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Summary of Significant Accounting Policies - Summary of Potentially Dilutive Securities Excluded from Calculation of Diluted Net Loss Per Share (Details) - shares
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 9,449,211 2,785,622
Unvested restricted common stock subject to repurchase    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 157,333 123,055
Common stock to be purchased under the 2019 ESPP    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 36,117 16,268
Options to purchase common stock    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 897,958 759,061
Warrants to purchase common stock    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 6,556,094 695,072
Series B-2 and C convertible preferred stock    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 555,555 0
Convertible debt    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 1,246,154 1,192,166