Net Loss Per Share - Summary of basis in Diluted Net Loss Per Share (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Numerator:
Net loss	$ (9,168,000)	$ (7,058,000)	$ (17,659,000)	$ (12,413,000)
Denominator:
Weighted-average common shares outstanding (in shares)	11,573,432	937,300	9,382,515	733,679
Less: Weighted-average unvested restricted shares and shares subject to repurchase	0	(11,868)	0	(16,061)
Weighted-average shares of common stock outstanding, diluted (in shares)	11,573,432	925,432	9,382,515	717,618
Weighted-average shares of common stock outstanding, basic (in shares)	11,573,432	925,432	9,382,515	717,618
Net loss per share of common stock, basic (in dollars per share)	$ (0.79)	$ (7.63)	$ (1.88)	$ (17.30)
Net loss per share of common stock, diluted (in dollars per share)	$ (0.79)	$ (7.63)	$ (1.88)	$ (17.30)