Equity Incentive Plans and Stock-Based Compensation - Summary of Option Activity Under the 2015 Plan and 2020 Plan (Details) - 2015 Equity and 2020 Incentive Plan - Incentive Stock Options and Nonqualified Stock Options	9 Months Ended	12 Months Ended
	Sep. 30, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Number of Options, Outstanding, Beginning balance (in shares) | shares	3,620,180
Options granted (in shares) | shares	2,343,884
Number of Options, Exercised (in shares) | shares	(126,299)
Number of Options, Forfeited (in shares) | shares	(363,419)
Number of Options, Outstanding, Ending balance (in shares) | shares	5,474,346	3,620,180
Number of Options, Exercisable (in shares) | shares	2,167,500
Number of Options, Vested and expected to vest (in shares) | shares	5,474,346
Share-Based Compensation Arrangement By Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Roll Forward]
Weighted- Average Exercise Price per Share, Outstanding, Beginning balance (USD per share) | $ / shares	$ 14.56
Weighted- Average Exercise Price per Share, Granted (USD per share) | $ / shares	10.94
Weighted- Average Exercise Price per Share, Exercised (USD per share) | $ / shares	4.90
Weighted- Average Exercise Price per Share, Forfeited (USD per share) | $ / shares	17.26
Weighted- Average Exercise Price per Share, Outstanding, Ending balance (USD per share) | $ / shares	13.05	$ 14.56
Weighted- Average Exercise Price per Share, Exercisable (USD per share) | $ / shares	11.88
Weighted- Average Exercise Price per Share, Vested and expected to vest (USD per share) | $ / shares	$ 13.05
Weighted- Average Remaining Contractual Term (in Years), Outstanding	8 years 3 months	8 years 3 months
Weighted- Average Remaining Contractual Term (in Years), Exercisable	7 years 4 months 17 days
Weighted- Average Remaining Contractual Term (in Years), Vested and expected to vest	8 years 3 months
Aggregate Intrinsic Value, Outstanding balance | $	$ 50,755	$ 16,735
Aggregate Intrinsic Value, Exercisable | $	23,172
Aggregate Intrinsic Value, Vested and expected to vest | $	$ 50,755