Stockholders' Equity - Schedule of Number of Shares of Common Stock Reserved for Future Issuance (Details) - shares	Mar. 31, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	9,667,148	6,829,205
Unvested Restricted Stock Units
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	538,660	771,660
Stock Options Available for Future Grant
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	3,531,453	1,961,338
Options Issued and Outstanding
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	5,376,145	3,875,317
Common Stock Warrants
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	220,890	220,890