Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Common stock available for future issuance	7,293,600	6,471,940
Common Stock Options Outstanding
Class Of Stock [Line Items]
Common stock available for future issuance	3,425,285	3,136,076
Equity Incentive Plans
Class Of Stock [Line Items]
Common stock available for future issuance	2,661,970	2,907,742
ESPP
Class Of Stock [Line Items]
Common stock available for future issuance	583,605	405,000
Restricted Stock Units Outstanding
Class Of Stock [Line Items]
Common stock available for future issuance	468,500
Common Stock Warrant
Class Of Stock [Line Items]
Common stock available for future issuance	154,240	23,122