Common Stock - Schedule of Reserved Shares of Common Stock for Issuance (Details) - shares	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	9,999,151	9,101,447
Shares available for future stock option grants	4,951,680	4,609,725
Shares available for employee stock purchase plan	801,464	400,752
Options Issued and Outstanding
Class Of Stock [Line Items]
Reserved shares of common stock for issuance	4,246,007	4,090,970