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Stockholders' Equity (Deficit) - Summary of Fair Value of Stock of the Stock Purchase Right Under ESPP (Details)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Risk-free interest rate, Minimum 0.20% 0.20%
Risk-free interest rate, Minimum 1.40% 1.40%
Expected volatility, Minimum 73.00% 61.50%
Expected volatility, Maximum 95.20% 68.10%
Expected term (in years)   6 years 1 month 6 days
2021 Employee Stock Purchase Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Risk-free interest rate, Minimum 0.03%  
Risk-free interest rate, Minimum 0.33%  
Expected volatility, Minimum 71.60%  
Expected volatility, Maximum 83.90%  
Minimum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Expected term (in years) 5 years 3 months 18 days  
Minimum | 2021 Employee Stock Purchase Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Expected term (in years) 6 months  
Maximum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Expected term (in years) 6 years 1 month 6 days  
Maximum | 2021 Employee Stock Purchase Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Expected term (in years) 1 year 7 months 20 days