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Convertible Preferred Stock and Preferred Stock Warrants - Additional information (Details) - USD ($)
12 Months Ended
Jul. 02, 2020
Jul. 01, 2020
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Temporary Equity Disclosure [Abstract]            
Conversion of convertible preferred stock to common stock upon closing of Initial Public Offering (IPO) (in shares) 31,557,107 31,557,107   31,557,107    
Convertible preferred stock, outstanding (shares)     0 0 31,557,107 24,445,555
Convertible preferred stock, authorized (shares)         31,557,107  
Convertible preferred stock, par value (usd per share)         $ 0.00001  
Preferred stock, dividend rate     8.00%      
Aggregate minimum gross proceeds for conversion of preferred stock     $ 50,000,000