Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Common stock available for future issuance	8,925,172	7,293,600
Common Stock Options Outstanding
Class Of Stock [Line Items]
Common stock available for future issuance	4,202,631	3,425,285
Equity Incentive Plans
Class Of Stock [Line Items]
Common stock available for future issuance	2,305,729	2,661,970
Restricted Stock Units Outstanding
Class Of Stock [Line Items]
Common stock available for future issuance	1,263,317	468,500
ESPP
Class Of Stock [Line Items]
Common stock available for future issuance	999,255	583,605
Common Stock Warrant
Class Of Stock [Line Items]
Common stock available for future issuance	154,240	154,240