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Stockholders' Equity - Schedule of Estimate Fair Value of Stock Options Granted (Details)
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
2016 Equity Incentive Plan        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Expected term (in years) 5 years 11 months 23 days 5 years 9 months 29 days 6 years 3 days 5 years 11 months 19 days
Expected volatility 82.00% 83.00% 82.00% 83.00%
Risk-free interest 2.96% 1.03% 2.07% 0.82%
2016 Employee Stock Purchase Plan        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Expected term (in years) 0 years 0 years 5 months 26 days 5 months 26 days
Expected volatility 0.00% 0.00% 76.00% 97.00%
Risk-free interest 0.00% 0.00% 1.09% 0.08%