Net Loss per Share - Summary of Outstanding Equity Instruments Excluded from Computation of Diluted Net Loss Per Share (Details) - shares	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Shares excluded from computation of diluted net loss per share (in shares)	10,065,814	6,853,465
Restricted Stock Awards
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Shares excluded from computation of diluted net loss per share (in shares)	73,448	242,411
Stock Options
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Shares excluded from computation of diluted net loss per share (in shares)	9,985,444	6,600,953
Estimated Shares Issuable Under The ESPP
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Shares excluded from computation of diluted net loss per share (in shares)	6,922	10,101