Stockholders' Equity - Summary of Shares of Common Stock Reserved (Details) - shares	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	21,805,776	8,144,710
Stock Options and Restricted Stock Units
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	8,372,313	5,359,736
Warrants
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	10,687,912	9,040
Common Stock Issuable Upon Conversion of Outstanding Debt
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	2,439,024	2,439,024
Employee Stock Purchase Plan
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	306,527	336,910