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Formation and Business of the Company (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Oct. 05, 2020
Dec. 31, 2022
Dec. 31, 2021
Subsidiary, Sale of Stock [Line Items]      
Common stock, shares authorized (in shares) 200,000,000 200,000,000 200,000,000
Common stock, par value (in dollars per share) $ 0.001 $ 0.001 $ 0.001
Convertible preferred stock, shares authorized (in shares) 10,000,000    
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001 $ 0.001
Accumulated deficit   $ 350,318 $ 291,395
Cash used in operating activities   45,083 $ 41,388
Cash, cash equivalents and marketable securities   $ 147,100  
IPO      
Subsidiary, Sale of Stock [Line Items]      
Shares issued in transaction (in shares) 11,500,000    
Share price (in dollars per share) $ 19.00    
Proceeds from initial public offering $ 218,500    
Proceeds from initial public offering, net of issuance costs $ 201,400    
Over-Allotment Option      
Subsidiary, Sale of Stock [Line Items]      
Shares issued in transaction (in shares) 1,500,000