Stockholders' Equity - Schedule of Number of Shares of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	9,428,404	6,829,205
Unvested Restricted Stock Units
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	537,160	771,660
Stock Options Available for Future Grant
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	3,143,400	1,961,338
Options Issued and Outstanding
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	5,747,844	3,875,317
Common Stock Warrants
Class Of Stock [Line Items]
Number of shares of common stock reserved for future issuance	0	220,890