Convertible Preferred Stock and Stockholders' Equity - Summary of Stock Option Activities (Details) - 2021 Equity Incentive Plan $ / shares in Units, $ in Millions	6 Months Ended	12 Months Ended
	Jun. 30, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Total Options
Total Options Outstanding, Beginning balance | shares	1,734,696
Stock options granted | shares	889,952
Total Options, Exercised | shares	(27,262)
Total Options Forfeited or cancelled | shares	(194,514)
Total Options Outstanding, Ending balance | shares	2,402,872	1,734,696
Total Options, Vested and expected to vest as of June 30, 2022 | shares	2,402,872
Total Options, Vested and exercisable as of June 30, 2022 | shares	801,929
Weighted-Average Exercise Price Per Share
Weighted-Average Exercise Price Per Share | $ / shares	$ 8.50
Weighted-Average Exercise Price Per Share, Granted | $ / shares	8.80
Weighted-Average Exercise Price Per Share, Exercised | $ / shares	4.30
Weighted-Average Exercise Price Per Share, Forfeited or cancelled | $ / shares	11.20
Weighted-Average Exercise Price Per Share | $ / shares	8.44	$ 8.50
Weighted-Average Exercise Price Per Share, Vested and expected to vest | $ / shares	8.44
Weighted-Average Exercise Price Per Share, Vested and exercisable | $ / shares	$ 5.75
Weighted-Average Remaining Contract Term
Weighted-Average Remaining Contract Term	8 years 9 months 18 days	8 years 9 months 18 days
Weighted-Average Remaining Contract Term, Vested and expected to vest	8 years 9 months 18 days
Weighted-Average Remaining Contract Term, Vested and exercisable	7 years 10 months 24 days
Aggregate Intrinsic Value
Aggregate Intrinsic Value, Outstanding | $	$ 2.0	$ 7.6
Aggregate Intrinsic Value, Vested and expected to vest | $	2.0
Aggregate Intrinsic Value, Vested and exercisable | $	$ 1.3