Basis of Presentation and Summary of Significant Accounting Policies - Additional Information (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2022	Dec. 31, 2021
Basis Of Presentation And Summary Of Significant Accounting Policies [Line Items]
Options granted, maximum contractual term	10 years
Adjustment to opening balance of accumulated deficit	$ (288,554)	$ (245,108)
Share-based Payment Arrangement, Option [Member] | Two Thousand Twenty Equity Incentive Plan And Two Thousand Fourteen Equity Incentive Plan [Member]
Basis Of Presentation And Summary Of Significant Accounting Policies [Line Items]
Option vesting period	4 years
Restricted Stock Units (RSUs) [Member] | Two Thousand Twenty Equity Incentive Plan And Two Thousand Fourteen Equity Incentive Plan [Member]
Basis Of Presentation And Summary Of Significant Accounting Policies [Line Items]
Restricted stock units	3 years