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Stockholders' Equity - Schedule of Estimate Fair Value of Stock Options Granted (Details)
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
2016 Equity Incentive Plan        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Expected term (in years) 6 years 7 days 6 years 29 days 5 years 11 months 15 days 5 years 11 months 26 days
Expected volatility 85.00% 82.00% 83.00% 83.00%
Risk-free interest 3.16% 0.95% 2.43% 0.84%
Dividend yield 0.00% 0.00% 0.00% 0.00%
2016 Employee Stock Purchase Plan        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Expected term (in years) 6 months 6 months 5 months 26 days 6 months
Expected volatility 95.00% 77.00% 84.00% 86.00%
Risk-free interest 3.26% 0.08% 1.95% 0.08%
Dividend yield 0.00% 0.00% 0.00% 0.00%