Stock-Based Compensation - Summary of Stock Option Activity (Details)	9 Months Ended	12 Months Ended
	Sep. 30, 2022 $ / shares shares	Dec. 31, 2021 $ / shares shares
Share-Based Payment Arrangement [Abstract]
Shares, Beginning Balance | shares	4,254,504
Shares, Granted | shares	1,379,384
Shares, Exercised | shares	(76,815)
Shares, Cancelled | shares	(367,234)
Shares, Ending Balance | shares	5,189,839	4,254,504
Shares, Exercisable | shares	1,444,905
Weighted Average Exercise Price, Beginning Balance | $ / shares	$ 9.89
Weighted Average Exercise Price, Granted | $ / shares	6.39
Weighted Average Exercise Price, Exercised | $ / shares	6.42
Weighted Average Exercise Price, Cancelled | $ / shares	13.19
Weighted Average Exercise Price, Ending Balance | $ / shares	8.78	$ 9.89
Weighted Average Exercise, Exercisable | $ / shares	$ 9.01
Weighted Average Remaining Contract Term	8 years 10 months 24 days	9 years 4 months 24 days
Weighted Average Remaining Contract Term, Exercisable	8 years 4 months 24 days