Significant Accounting Policies - Schedule of Outstanding Potentially Dilutive Securities Excluded In Calculation Of Diluted Net Loss Per Share (Details) - shares	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Significant Accounting Policies [Line Items]
Outstanding potentially dilutive securities excluded in calculation of diluted net loss per share (in shares)	8,560,838	7,081,956
Common stock options
Significant Accounting Policies [Line Items]
Outstanding potentially dilutive securities excluded in calculation of diluted net loss per share (in shares)	5,451,813	4,195,852
Warrants to purchase common stock
Significant Accounting Policies [Line Items]
Outstanding potentially dilutive securities excluded in calculation of diluted net loss per share (in shares)	2,323,711	2,323,711
Employee stock purchase plan
Significant Accounting Policies [Line Items]
Outstanding potentially dilutive securities excluded in calculation of diluted net loss per share (in shares)	529,465	562,393
Unvested restricted stock units
Significant Accounting Policies [Line Items]
Outstanding potentially dilutive securities excluded in calculation of diluted net loss per share (in shares)	255,849	0