Net Loss Per Share - Summary of Outstanding Potentially Dilutive Common Stock Equivalents Excluded from Calculation of Diluted Net Loss Per Share (Details) - shares	6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Outstanding potentially dilutive common stock equivalents	7,158,599	4,541,976
Common Stock Options Issued and Outstanding
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Outstanding potentially dilutive common stock equivalents	7,157,447	4,533,912
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	1,152	8,064