Stockholders Equity (Deficit) - Summary of Common Stock Reserved For Future Issuance (Details) - shares	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Conversion of preferred stock	6,878,511	19,278,888
Convertible Preferred Stock [Member]
Class Of Stock [Line Items]
Conversion of preferred stock	0	14,851,007
Preferred Stock Warrants [Member]
Class Of Stock [Line Items]
Conversion of preferred stock	0	225,945
Common Stock Warrant [Member]
Class Of Stock [Line Items]
Conversion of preferred stock	0	1
2006 and 2015 Plans [Member]
Class Of Stock [Line Items]
Conversion of preferred stock	5,754,005
Restricted Stock Units (RSUs) [Member]
Class Of Stock [Line Items]
Conversion of preferred stock	640,479	0
Employee Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Conversion of preferred stock	484,027	0