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Formation and Business of the Company - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Sep. 25, 2020
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Organization Consolidation And Presentation [Line Items]        
Proceeds from issuance of common stock, gross $ 243,536      
Proceeds from issuance of common stock, net $ 223,176   $ 223,176  
Net loss   $ (57,846) (34,440) $ (25,352)
Cash used in operating activities   (46,571) (32,739) $ (22,065)
Accumulated deficit   (167,726) $ (109,880)  
Cash, cash equivalents, and marketable securities   $ 314,074    
Common Stock        
Organization Consolidation And Presentation [Line Items]        
Number of shares sold     13,529,750  
Conversion of convertible preferred stock to common stock, Shares     28,188,110  
IPO | Common Stock        
Organization Consolidation And Presentation [Line Items]        
Number of shares sold 13,529,750      
Public offering price per share $ 18.00      
IPO | Convertible Preferred Stock | Common Stock        
Organization Consolidation And Presentation [Line Items]        
Conversion of convertible preferred stock to common stock, Shares 28,188,110      
Underwriters | Common Stock        
Organization Consolidation And Presentation [Line Items]        
Option to purchase common stock 1,764,750