Stockholder's Equity - Summary of Shares Reserved for Potential Conversion of Outstanding Preferred Stock, Vesting of Restricted Stock and Exercise of Stock Options, Common Stock Warrants, and Shares Under the Employee Stock Purchase Plan (Details) - shares		Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Shares of common stock for potential conversion		3,309,965	32,326,829
Redeemable Convertible Preferred Stock
Class Of Stock [Line Items]
Shares of common stock for potential conversion		0	31,253,609
Options to Purchase Common Stock
Class Of Stock [Line Items]
Shares of common stock for potential conversion		3,264,770	1,053,874
Common Stock Warrants
Class Of Stock [Line Items]
Shares of common stock for potential conversion	[1]	0	19,346
Employee Stock Option [Member]
Class Of Stock [Line Items]
Shares of common stock for potential conversion		45,195	0

[1] During the fourth quarter of 2021, 19,346 common stock warrants were net exercised, resulting in 19,303 net shares.