Convertible Preferred Stock and Stockholders' Equity (Deficit) - Summary of Assumptions Used in Black-Scholes Model (Details)	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Class Of Stock [Line Items]
Risk-free rate of interest, Minimum	1.43%	0.53%
Risk-free rate of interest, Mximum	2.12%	0.64%
Expected stock price volatility, Minimum	89.30%	86.00%
Expected stock price volatility, Maximum	118.10%	87.90%
Dividend yield	0.00%	0.00%
Minimum [Member]
Class Of Stock [Line Items]
Expected term (years)	5 years 9 months 7 days	5 years 5 months 23 days
Maximum [Member]
Class Of Stock [Line Items]
Expected term (years)	6 years 29 days	6 years 1 month 13 days