Summary of Significant Accounting Policies - Schedule of Potentially Dilutive Securities Excluded from Computation of Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Potentially dilutive securities
Potentially dilutive securities	18,040,640	14,135,922	2,564,546
Stock issuable upon conversion of convertible note
Potentially dilutive securities
Potentially dilutive securities	14,634,146	11,991,870
Stock options to purchase common stock
Potentially dilutive securities
Potentially dilutive securities	1,616,891	1,008,598	1,390,115
Unvested RSUs
Potentially dilutive securities
Potentially dilutive securities	1,789,603	1,135,454	1,174,431