Common Stock - Schedule of Common Stock Reserved for Future Issuance (Details)	Jun. 30, 2022 shares
Class of Stock [Line Items]
Common stock reserved for future issuance	17,816,576
Stock Options Issued and Outstanding [Member]
Class of Stock [Line Items]
Common stock reserved for future issuance	9,334,371
Authorized For Future Options Grants [Member]
Class of Stock [Line Items]
Common stock reserved for future issuance	7,261,233
Authorized for issuance under the ESPP Plan [Member]
Class of Stock [Line Items]
Common stock reserved for future issuance	1,220,972