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	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility, minimum	73.78%	74.95%
Expected volatility, maximum	79.53%	76.31%
Risk-free interest rate, minimum	1.64%	0.61%
Risk-free interest rate, maximum	3.59%	1.07%
Expected dividend	0.00%	0.00%
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	5 years 3 months 29 days	5 years 5 months 8 days
Underlying common stock fair value (USD per share)	$ 4.92	$ 18.85
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)	$ 24.23	$ 38.23