Equity Incentive Plans and Stock-Based Compensation - Summary of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards (Details) - Incentive Stock Options and Nonqualified Stock Options - $ / shares	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility, minimum	74.48%	74.95%
Expected volatility, maximum	75.01%	75.72%
Risk-free interest rate, minimum	1.64%	0.61%
Risk-free interest rate, maximum	2.13%	1.06%
Expected dividend	0.00%	0.00%
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 years 7 days	5 years 9 months 7 days
Underlying common stock fair value (USD per share)	$ 7.56	$ 26.13
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 years 29 days	6 years 29 days
Underlying common stock fair value (USD per share)	$ 12.68	$ 38.23