Equity Incentive Plans - Summary of Estimated Fair Value of Employee Stock Options (Details)	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Fair Value Assumptions
Expected volatility, Minimum	80.40%	81.20%	78.10%	81.00%
Expected volatility, Maximum	80.60%	81.80%	81.20%	82.50%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Expected term (in years)	5 years 6 months	5 years 4 months 24 days
Risk-free interest rate, Minimum	2.70%	0.80%	1.60%	0.50%
Risk-free interest rate, Maximum	4.00%	1.10%	4.00%	1.10%
Minimum
Fair Value Assumptions
Expected term (in years)			5 years 4 months 24 days	5 years 4 months 24 days
Maximum
Fair Value Assumptions
Expected term (in years)			5 years 6 months	5 years 6 months