Convertible Preferred Stock and Stockholders' Equity (Deficit) - Summary of Assumptions Used in Black-Scholes Model (Details)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Risk-free rate of interest, Minimum	0.63%	0.31%
Risk-free rate of interest, Maximum	1.34%	1.40%
Expected stock price volatility, Minimum	84.20%	80.20%
Expected stock price volatility, Maximum	90.90%	86.40%
Dividend yield	0.00%	0.00%
Maximum [Member]
Class Of Stock [Line Items]
Expected term (years)	6 years 29 days	6 years 29 days
Minimum [Member]
Class Of Stock [Line Items]
Expected term (years)	5 years 9 months 7 days	5 years 10 months 24 days