Stockholders' Equity (Deficit) - Schedule of Shares Reserved for Future Issuance (Details) - shares	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Warrants to purchase redeemable convertible preferred stock		77,842
Warrants to purchase common stock	77,842
Common stock options issued and outstanding	2,175,685	2,466,594
Common stock available for future grants	1,934,095	67,065
Restricted stock units issued and outstanding	394,750
ESPP
Class Of Stock [Line Items]
Convertible notes	401,164
Series A Redeemable Convertible Preferred Stock Outstanding
Class Of Stock [Line Items]
Convertible preferred stock reserved for future issuance		450,692
Series B Redeemable Convertible Preferred Stock Outstanding
Class Of Stock [Line Items]
Convertible preferred stock reserved for future issuance		675,397
Series C Redeemable Convertible Preferred Stock Outstanding
Class Of Stock [Line Items]
Convertible preferred stock reserved for future issuance		2,223,888
Series D Redeemable Convertible Preferred Stock Outstanding
Class Of Stock [Line Items]
Convertible preferred stock reserved for future issuance		9,047,861