Equity Incentive Plans - Summary of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Shares Subject to Options Outstanding, Shares
Outstanding as of beginning balance (in shares) | shares	9,434,660
Options granted (in shares) | shares	4,359,235
Option exercised (in shares) | shares	(47,530)
Options forfeited/cancelled (in shares) | shares	(562,456)
Outstanding as ending balance (in shares) | shares	13,183,909	9,434,660
Options vested and exercisable as of ending balance (in shares) | shares	13,183,909
Options exercisable as of ending balance (in shares) | shares	5,924,728
Shares Subject to Options Outstanding, Weighted Average Exercise Price
Outstanding as of beginning balance (in USD per share) | $ / shares	$ 12.24
Options granted (in USD per share) | $ / shares	11.53
Option exercised (in USD per share) | $ / shares	3.08
Options forfeited/cancelled (in USD per share) | $ / shares	16.50
Outstanding as of ending balance (in USD per share) | $ / shares	11.86	$ 12.24
Options vested and exercisable as of ending balance (in USD per share) | $ / shares	11.86
Options exercisable as of ending balance (in USD per share) | $ / shares	$ 12.01
Weighted-Average Remaining Contractual Life (in years)	7 years 8 months 12 days	7 years 4 months 24 days
Weighted-Average Remaining Contractual Life (in years), Options vested and exercisable as of end of period	7 years 8 months 12 days
Weighted-Average Remaining Contractual Life (in years), Options exercisable as of end of period	6 years 4 months 24 days
Aggregate Intrinsic Value | $	$ 6,900	$ 15,822
Aggregate Intrinsic Value, Options vested and exercisable as of end of period | $	6,900
Aggregate Intrinsic Value, Options exercisable as of end of period | $	$ 6,506