Equity Plans - Stock Options Valuation Assumptions (Details) - Options to Purchase Common Stock	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Equity Plans
Expected volatility, Minimum	97.70%	87.40%	96.30%	87.40%
Expected volatility, Maximum	101.70%	88.40%	101.70%	90.20%
Risk-free interest rate, Minimum	2.70%	0.85%	1.64%	0.11%
Risk-free interest rate, Maximum	4.01%	1.16%	4.01%	1.16%
Dividend yield	0.00%	0.00%	0.00%	0.00%
Minimum
Equity Plans
Expected term (in years)	5 years 3 months 7 days	6 years 7 days	5 years 3 months 7 days	5 years 3 months 7 days
Maximum
Equity Plans
Expected term (in years)	6 years 29 days	6 years 29 days	6 years 29 days	6 years 29 days