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Stockholders' Equity - Schedule of Common Stock Reserved for Issuance (Details) - shares
Sep. 30, 2022
Dec. 31, 2021
Class Of Stock [Line Items]    
Common stock reserved for issuance 12,000,369 10,286,323
Stock options and restricted stock units issued and outstanding    
Class Of Stock [Line Items]    
Common stock reserved for issuance 8,910,376 6,940,566
Reserved for Future Stock Awards or Option Grants    
Class Of Stock [Line Items]    
Common stock reserved for issuance 1,715,417 2,434,619
Reserved for Employee Stock Purchase Plan    
Class Of Stock [Line Items]    
Common stock reserved for issuance 1,142,089 911,138
Common stock held back in connection with asset acquisition    
Class Of Stock [Line Items]    
Common stock reserved for issuance 32,494 0
Common stock issuable as contingent consideration in connection with asset acquisition    
Class Of Stock [Line Items]    
Common stock reserved for issuance 199,993 0