Stockholders' Equity (Deficit) - Summary of Common Stock Reserved for Future Issuance (Details) - shares	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance	8,678,836	28,802,418
Convertible Preferred Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance		16,086,426
Common Stock Options Issued and Outstanding
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance	6,474,039	2,930,248
Warrants to Purchase Convertible Preferred Stock Outstanding
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance		11,250
Warrants to Purchase Common Stock Outstanding
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance	14,884
Conversion of Convertible Preferred Stock in Future Issuance (D-2)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance		9,400,705
Shares Available for Issuance Under Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance	1,856,063	373,789
ESPP Shares Pending Issuance
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance	333,850