Equity Incentive Plans - Summary of Assumptions under Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards (Details) - Outstanding Stock Option Awards	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility, Minimum	72.00%	77.91%
Expected volatility, Maximum	77.74%	79.18%
Expected dividend yield	0.00%	0.00%
Risk-free interest rate, Minimum	0.56%	0.37%
Risk-free interest rate, Maximum	1.34%	0.53%
Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	5 years 5 months 28 days	5 years 10 months 28 days
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	6 years 14 days	6 years 25 days