Common Stock - Shares Reserved for Issuance (Details) - shares	Sep. 30, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Reserved shares of common stock (in shares)	16,321,328	14,525,828
Issuances under stock incentive plan
Class of Stock [Line Items]
Reserved shares of common stock (in shares)	8,249,031	6,972,376
Issuances upon exercise of common stock warrants
Class of Stock [Line Items]
Reserved shares of common stock (in shares)	137,658	272,001
Issuances upon vesting of restricted stock units
Class of Stock [Line Items]
Reserved shares of common stock (in shares)	6,422,809	2,523,122
Issuances of convertible notes
Class of Stock [Line Items]
Reserved shares of common stock (in shares)	516,758	686,926
Shares reserved for shares available to be granted but not granted yet
Class of Stock [Line Items]
Reserved shares of common stock (in shares)	995,072	4,071,403