Net Loss Per Share - Summary of Outstanding Potentially Dilutive Common Stock Equivalents Excluded from Calculation of Diluted Net Loss Per Share (Details) - shares	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Outstanding potentially dilutive common stock equivalents	7,056,347	4,467,104
Common Stock Options Issued and Outstanding
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Outstanding potentially dilutive common stock equivalents	7,053,467	4,453,584
Early Exercised Stock Options Subject To Future Vesting
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Outstanding potentially dilutive common stock equivalents	2,880	13,520