Equity Incentive Plans - Summary of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 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	4,447,720
Option exercised (in shares) | shares	(269,103)
Options forfeited/cancelled (in shares) | shares	(823,901)
Outstanding as ending balance (in shares) | shares	12,789,376	9,434,660
Options vested and exercisable as of ending balance (in shares) | shares	12,789,376
Options exercisable as of ending balance (in shares) | shares	6,115,757
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	11.50
Option exercised (in USD per share) | $ / shares	6.40
Options forfeited/cancelled (in USD per share) | $ / shares	15.77
Outstanding as of ending balance (in USD per share) | $ / shares	11.89	$ 12.24
Options vested and exercisable as of ending balance (in USD per share) | $ / shares	11.89
Options exercisable as of ending balance (in USD per share) | $ / shares	$ 12.17
Weighted-Average Remaining Contractual Life (in years)	7 years 7 months 6 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 7 months 6 days
Weighted-Average Remaining Contractual Life (in years), Options exercisable as of end of period	6 years 4 months 24 days
Aggregate Intrinsic Value | $	$ 19,765	$ 15,822
Aggregate Intrinsic Value, Options vested and exercisable as of end of period | $	19,765
Aggregate Intrinsic Value, Options exercisable as of end of period | $	$ 14,169