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Stock Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 6 Months Ended 7 Months Ended 12 Months Ended
Apr. 21, 2021
Apr. 30, 2021
Apr. 20, 2021
Nov. 30, 2020
Sep. 30, 2019
Jun. 06, 2022
Dec. 06, 2021
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Common stock reserved for future issuance (in shares)               6,237,974 20,615,380  
Vesting period (in years)   4 years                
Stock options exercised intrinsic value               $ 2.3 $ 0.1  
Options, subject to repurchase (in shares)               174,171 30,802  
Minimum exercise price per share, percentage   85.00%                
Authorized (in shares)               2,900,000 3,591,888  
Offering period             6 months 18 days      
Number of shares available for grant (in shares)               2,132,750 818,889 0
Period for recognition               3 years 2 months 12 days    
Market price       $ 0.78            
Stock options and unvested restricted stock units                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Unrecognized stock-based compensation expense               $ 16.0    
Stock option                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Unrecognized stock-based compensation expense               $ 0.3    
Dividend yield       0.00%       0.00% 0.00%  
Weighted average risk-free interest rate       0.53%         0.53%  
Expected volatility       51.00%         51.00%  
Expected term (in years)       6 years 3 months         6 years 3 months  
Incremental compensation cost       $ 0.1            
Stock option | Share-based Payment Arrangement, Employee                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Options vested fair value               $ 0.4 $ 1.1  
Options granted, weighted average grant date fair value (in dollars per share)               $ 7.78 $ 0.46  
Unvested restricted stock units                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Options granted, weighted average grant date fair value (in dollars per share)               $ 22.14    
ESPP                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Period for recognition               4 months 24 days    
Outstanding options under the 2020 Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Forfeitures (in shares) 485,581                  
Common stock reserved for future issuance (in shares)               0 2,835,265  
Outstanding options under the 2020 Plan | Stock option                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Maximum term (in years)               10 years    
Minimum exercise price per share, percentage               110.00%    
Forfeitures (in shares)         2,039          
2021 Equity Incentive Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Forfeitures (in shares) 1,222,649                  
2021 Equity Incentive Plan | Stock option                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Maximum term (in years)               10 years    
Minimum exercise price per share, percentage     110.00%              
Common stock reserved for future issuance (in shares)     2,900,000              
2021 Employee Stock Purchase Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Common stock reserved for future issuance (in shares)   580,000                
Authorized (in shares)   244,529                
Offering period             6 months 18 days      
Issuance of shares pursuant to Employee Stock Purchase Plan (in shares)               109,831    
Number of shares available for grant (in shares)               470,169    
2021 Employee Stock Purchase Plan | Forecast                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Offering period           6 months