Stockholders' Equity - Summary of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Common stock reserved for future issuance	6,072,709	4,825,093
2015 Stock Incentive Plan
Class Of Stock [Line Items]
Shares reserved for exercise of outstanding stock options	2,479,762	2,540,963
2021 Stock Incentive Plan
Class Of Stock [Line Items]
Shares reserved for exercise of outstanding stock options	1,346,313	496,500
Shares reserved for vesting of restricted stock units granted	307,076
Common stock reserved for future issuance	1,124,002	1,221,593
2021 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Common stock reserved for future issuance	815,556	566,037