Stockholders' Equity - Summary of Stock Option Activity (Details) - 2019 Plan - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2022	Dec. 31, 2021
Number of Options
Outstanding, Beginning Balance	2,406,668
Granted	800,566
Exercised	(12,065)
Cancelled	(69,683)
Outstanding, Ending Balance	3,125,486	2,406,668
Exercisable as of March 31, 2022	1,153,770
Weighted Average Exercise Price
Weighted Average Exercise Price Outstanding, Beginning Balance	$ 16.46
Weighted Average Exercise Price, Granted	4.49
Weighted Average Exercise Price, Exercised	2.43
Weighted Average Exercise Price, Cancelled	17.49
Weighted Average Exercise Price Outstanding, Ending Balance	13.43	$ 16.46
Weighted Average Exercise Price, Exercisable as of March 31, 2022	$ 12.38
Weighted Average Remaining Contractual Term (In years)
Weighted Average Remaining Contractual Term (In years), Outstanding	8 years 2 months 12 days	8 years 1 month 6 days
Weighted Average Remaining Contractual Term (In years), Exercisable as of March 31, 2022	7 years 3 months 18 days
Aggregate Intrinsic Value
Aggregate Intrinsic Value Outstanding	$ 9,970
Aggregate Intrinsic Value Outstanding	1,211	$ 9,970
Aggregate Intrinsic Value, Exercisable as of March 31, 2022	$ 967