Stock-Based Compensation Expense - Summary of Stock Option Activity Under Plans (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Shares, Outstanding December 31, 2021	1,662,861
Shares, Granted	1,303,822
Shares, Exercised	(2,718)
Shares, Cancelled	(1,788)
Shares, Outstanding at March 31, 2022	2,962,177	1,662,861
Shares, Exercisable at March 31, 2022	963,740
Shares, Vested and expected to vest at March 31, 2022	2,962,177
Weighted Average Exercise Price, Outstanding December 31, 2021	$ 10.34
Weighted Average Exercise Price, Granted	5.02
Weighted Average Exercise Price, Exercised	2.76
Weighted Average Exercise Price, Cancelled	9.70
Weighted Average Exercise Price, Outstanding at March 31,2022	8.00	$ 10.34
Weighted Average Exercise Price, Exercisable at March 31, 2022	9.94
Weighted Average Exercise Price, Vested and expected to vest at March 31, 2022	$ 8.00
Outstanding, Weighted Average Remaining Contractual Life (in years)	8 years 6 months	7 years 7 months 6 days
Exercisable, Weighted Average Remaining Contractual Life (in years)	6 years 8 months 12 days
Vested and expected to vest, Weighted Average Remaining Contractual Life (in years)	8 years 6 months
Aggregate Intrinsic Value, Outstanding December 31, 2021	$ 765	$ 918
Aggregate Intrinsic Value, Exercisable at March 31, 2022	629
Aggregate Intrinsic Value, Vested and expected to vest at March 31, 2022	$ 765