Stock-Based Compensation Expense - Summary of Stock Option Activity Under Plans (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Shares, Outstanding December 31, 2021	1,662,861
Shares, Granted	2,765,174
Shares, Exercised	(2,718)
Shares, Cancelled	(89,053)
Shares, Outstanding at September 30, 2022	4,336,264	1,662,861
Shares, Exercisable at September 30, 2022	1,245,916
Shares, Vested and expected to vest at September 30, 2022	4,336,264
Weighted Average Exercise Price, Outstanding December 31, 2021	$ 10.34
Weighted Average Exercise Price, Granted	5.21
Weighted Average Exercise Price, Exercised	2.76
Weighted Average Exercise Price, Cancelled	7.29
Weighted Average Exercise Price, Outstanding at September 30,2022	7.14	$ 10.34
Weighted Average Exercise Price, Exercisable at September 30, 2022	9.73
Weighted Average Exercise Price, Vested and expected to vest at September 30, 2022	$ 7.14
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	$ 1,917	$ 918
Aggregate Intrinsic Value, Exercisable at September 30, 2022	1,102
Aggregate Intrinsic Value, Vested and expected to vest at September 31, 2022	$ 1,917