Stock-Based Compensation - Summary of Stock Option Activity (Details)	6 Months Ended	12 Months Ended
	Jun. 30, 2022 $ / shares shares	Dec. 31, 2021 $ / shares shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Shares, Beginning Balance | shares	4,254,504
Shares, Granted | shares	1,196,184
Shares, Exercised | shares	(15,410)
Shares, Cancelled | shares	(219,046)
Shares, Ending Balance | shares	5,216,232	4,254,504
Shares, Exercisable | shares	1,190,432
Weighted Average Exercise Price, Beginning Balance | $ / shares	$ 9.89
Weighted Average Exercise Price, Granted | $ / shares	5.65
Weighted Average Exercise Price, Exercised | $ / shares	6.04
Weighted Average Exercise Price, Cancelled | $ / shares	14.81
Weighted Average Exercise Price, Ending Balance | $ / shares	8.72	$ 9.89
Weighted Average Exercise, Exercisable | $ / shares	$ 9.00
Weighted Average Remaining Contract Term	9 years 1 month 6 days	9 years 4 months 24 days
Weighted Average Remaining Contract Term, Exercisable	8 years 7 months 6 days