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Stockholders' Equity - Schedule of Estimate Fair Value of Stock Options Granted (Details)
3 Months Ended
Mar. 31, 2022
Mar. 31, 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 3 days
Expected volatility 82.00% 83.00%
Risk-free interest 0.19% 0.76%
Dividend yield 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) 5 months 26 days 5 months 26 days
Expected volatility 76.00% 97.00%
Risk-free interest 1.09% 0.08%
Dividend yield 0.00% 0.00%