Stock-Based Compensation Expense - Summary of Stock Option Activity Under Plans (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Shares, Outstanding December 31, 2021	1,662,861
Shares, Granted	2,381,749
Shares, Exercised	(2,718)
Shares, Cancelled	(24,166)
Shares, Outstanding at June 30, 2022	4,017,726	1,662,861
Shares, Exercisable at June 30, 2022	1,118,220
Shares, Vested and expected to vest at June 30, 2022	4,017,726
Weighted Average Exercise Price, Outstanding December 31, 2021	$ 10.34
Weighted Average Exercise Price, Granted	5.07
Weighted Average Exercise Price, Exercised	2.76
Weighted Average Exercise Price, Cancelled	7.10
Weighted Average Exercise Price, Outstanding at June 30,2022	7.24	$ 10.34
Weighted Average Exercise Price, Exercisable at June 30, 2022	9.79
Weighted Average Exercise Price, Vested and expected to vest at June 30, 2022	$ 7.24
Outstanding, Weighted Average Remaining Contractual Life (in years)	8 years 8 months 12 days	7 years 7 months 6 days
Exercisable, Weighted Average Remaining Contractual Life (in years)	6 years 9 months 18 days
Vested and expected to vest, Weighted Average Remaining Contractual Life (in years)	8 years 8 months 12 days
Aggregate Intrinsic Value Outstanding	$ 3,544	$ 918
Aggregate Intrinsic Value, Exercisable at June 30, 2022	1,371
Aggregate Intrinsic Value, Vested and expected to vest at June 31, 2022	$ 3,544