Net Loss Per Share Attributable to Common Stockholders - Summary of Potentially Dilutive Securities Excluded from Computation of Diluted Net Loss Per Share (Details) - shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Total	3,642,021	3,124,572	20,086,140
Options to purchase common stock
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Total	3,620,180	2,993,855	1,337,501
Restricted stock awards granted and not purchased
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Total	0	4,195	4,195
Unvested restricted shares
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Total	21,841	126,522	302,211
Redeemable convertible preferred stock (on an as-converted basis)
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Total	0	0	18,442,233