Stockholders' Equity - Schedule of Shares of Common Stock Reserved for Issuance (Details) - shares	Mar. 31, 2022	Jan. 01, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Total (in shares)	35,067,000		31,891,000
Reserve balance for Sales Agreement
Class of Stock [Line Items]
Total (in shares)	14,183,000		14,183,000
Common stock options outstanding
Class of Stock [Line Items]
Total (in shares)	13,240,000		10,485,000
Common stock options available for grant
Class of Stock [Line Items]
Total (in shares)	6,937,000		6,698,000
ESPP shares available for purchase
Class of Stock [Line Items]
Total (in shares)	507,000		507,000
401(k) Matching Plan
Class of Stock [Line Items]
Total (in shares)	200,000	200,000	17,813