Stockholders' Equity - Schedule of Number of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2022	Dec. 31, 2021
Stockholders' Equity Note [Abstract]
Stock options, issued and outstanding	5,637,483	3,764,001
Restricted stock units	615,151	358,535
Stock options and restricted stock units, future issuance	1,671,144	2,618,117
Employee stock purchase plan, available for future grants	816,662	855,206
Pre-funded warrants	1,334,332	1,334,332
Total	10,074,772	8,930,191