Quarterly report pursuant to Section 13 or 15(d)

Organization and Principal Activities - Additional Information (Details)

v3.22.2.2
Organization and Principal Activities - Additional Information (Details)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2022
USD ($)
shares
Sep. 30, 2022
USD ($)
Segment
shares
Dec. 31, 2021
USD ($)
Organization Consolidation And Presentation Of Financial Statements [Line Items]      
Date of incorporation   Apr. 21, 2003  
Headquartered in   South San Francisco  
Headquartered in state   CA  
Number of operating segments | Segment   1  
Accumulated deficit $ 418,021 $ 418,021 $ 333,411
Unrestricted cash, cash equivalents and marketable securities $ 287,300 $ 287,300  
Substantial doubt about going concern, within one year   false  
At-the-Market (“ATM") | Common Stock      
Organization Consolidation And Presentation Of Financial Statements [Line Items]      
Shares of common stock | shares 5,746,849 7,463,845  
Gross proceeds from issuance of common stock $ 33,600 $ 42,500  
Underwriting discounts and commissions and other offering expenses 900 1,600  
Net proceeds from issuance of common stock $ 32,700 $ 40,900  
Minimum      
Organization Consolidation And Presentation Of Financial Statements [Line Items]      
Period from issuance date of unaudited interim condensed financial statements   12 months