Stock Incentive Plans - Schedule of Stock Options Valuation Assumptions Using a Black-Scholes Option Pricing Model (Details) - $ / shares	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility, minimum	69.30%	64.60%	68.70%	64.60%
Expected volatility, maximum	69.60%	66.90%	69.60%	67.10%
Weighted-average risk-free interest rate, minimum	2.67%	0.90%	1.46%	0.50%
Weighted-average risk-free interest rate, maximum	3.38%	1.20%	3.38%	1.20%
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	6 years 3 months	6 years 3 months	6 years 3 months	6 years 3 months
Underlying common stock fair value	$ 2.88	$ 9.62	$ 4.17	$ 13.91
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	5 years 6 months	5 years 6 months	5 years 6 months	5 years 6 months
Underlying common stock fair value	$ 1.78	$ 6.53	$ 1.78	$ 6.53