Stockholders' Equity - Schedule of Number of Shares of Common Stock Reserved for Future Issuance (Details) - shares	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	6,829,205	5,672,757
Options Issued and Outstanding
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	3,875,317	3,706,945
Stock Options Available for Future Grant
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	1,961,338	1,739,621
Unvested Restricted Stock Awards
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	771,660	0
Common Stock Warrants
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	220,890	226,191