Preferred and Common Stock - Schedule of Common Stock Reserved for Future Issuances (Details)	Sep. 30, 2021 shares
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	3,548,408
Stock Options
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	3,333,747
Employee stock purchase plan
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	214,661