Stockholders' Equity - Summary of Shares of Common Stock Reserved (Details) - shares	Mar. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Shares of common stock reserved for future issuances	23,905,040	21,805,776
Stock Options and Restricted Stock Units
Class of Stock [Line Items]
Shares of common stock reserved for future issuances	11,691,089	8,372,313
Warrants
Class of Stock [Line Items]
Shares of common stock reserved for future issuances	10,687,912	10,687,912
Common Stock Issuable Upon Conversion of Outstanding Debt
Class of Stock [Line Items]
Shares of common stock reserved for future issuances	1,219,512	2,439,024
Employee Stock Purchase Plan
Class of Stock [Line Items]
Shares of common stock reserved for future issuances	306,527	306,527