Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details) - shares	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	17,057,037	13,564,707
Stock options
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	7,527,152	6,504,401
Unvested Restricted Stock Units
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	4,539,729	2,070,150
Warrants
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	4,990,156	4,990,156