Equity Incentive Plan - Summary of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Share-Based Payment Arrangement [Abstract]
Number of Options, Beginning Balance | shares	3,712,274
Number of Options, Granted | shares	416,213
Number of Options, Exercised | shares	(60,494)
Number of Options, Cancelled | shares	(119,422)
Number of Options, Ending Balance | shares	3,948,571	3,712,274
Number of Options vested and expected to vest as of June 30, 2022 | shares	3,948,571
Number of Options vested and exercisable as of June 30, 2022 | shares	1,928,654
Weighted-Average Exercise Price, Beginning Balance | $ / shares	$ 3.30
Weighted-Average Exercise Price, Granted | $ / shares	1.85
Weighted-Average Exercise Price, Exercised | $ / shares	1.42
Weighted-Average Exercise Price, Cancelled | $ / shares	7.39
Weighted-Average Exercise Price, Ending Balance | $ / shares	3.05	$ 3.30
Weighted-Average Exercise Price, Options vested and expected to vest as of June 30, 2022 | $ / shares	3.05
Weighted-Average Exercise Price, Options vested and exercisable as of June 30, 2022 | $ / shares	$ 2.40
Weighted-Average Remaining Contractual Term, Balance	7 years 2 months 12 days	8 years 1 month 6 days
Weighted-Average Remaining Contractual Term, Options vested and expected to vest as of June 30, 2022	7 years 2 months 12 days
Weighted-Average Remaining Contractual Term, Options vested and exercisable as of June 30, 2022	6 years 9 months 18 days
Aggregate Intrinsic Value, Beginning Balance | $	$ 23,150
Aggregate Intrinsic Value, Exercised | $	300
Aggregate Intrinsic Value, Ending Balance | $	1,542	$ 23,150
Aggregate Intrinsic Value, Options vested and expected to vest as of June 30, 2022 | $	1,542
Aggregate Intrinsic Value, Options vested and exercisable as of June 30, 2022 | $	$ 1,132