Stock-based Compensation - Summary of Stock Option Award Activities (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2022	Dec. 31, 2021
Share-based Payment Arrangement [Abstract]
Options outstanding, beginning balance	2,306,379
Options granted	801,600
Options exercised	(31,025)
Options forfeited	(63,749)
Options outstanding, ending balance	3,013,205	2,306,379
Options exercisable	665,794
Options vested or expected to vest	2,347,411
Options outstanding, weighted average exercise price, beginning balance	$ 6.51
Options granted, weighted average exercise price	4.10
Options exercised, weighted average exercise price	1.07
Options forfeited, weighted average exercise price	(6.83)
Options outstanding, weighted average exercise price, ending balance	5.91	$ 6.51
Options exercisable, weighted average exercise price	5.64
Options vested or expected to vest, weighted average exercise price	$ 5.98
Options outstanding, weighted average remaining contractual term	9 years 18 days	8 years 11 months 26 days
Options exercisable, weighted average remaining contractual term	8 years 3 months 21 days
Options vested or expected to vest, weighted average remaining contractual term	9 years 3 months 3 days
Options outstanding, aggregate intrinsic value	$ 620	$ 983
Options exercisable, aggregate intrinsic value	363
Options vested or expected to vest, aggregate intrinsic value	$ 257