Common Stock - Schedule of Common Stock Reserved for Future Issuance (Details)	Mar. 31, 2022 shares
Class of Stock [Line Items]
Common stock reserved for future issuance	17,540,842
Stock Options Issued and Outstanding [Member]
Class of Stock [Line Items]
Common stock reserved for future issuance	9,139,344
Authorized For Future Options Grants [Member]
Class of Stock [Line Items]
Common stock reserved for future issuance	7,006,507
Authorized for issuance under the ESPP Plan [Member]
Class of Stock [Line Items]
Common stock reserved for future issuance	1,394,991