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Stock-Based Compensation - Schedule of Stock Option Activity (Details) - Stock Options
9 Months Ended 12 Months Ended
Sep. 30, 2022
$ / shares
shares
Dec. 31, 2021
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding. Stock Options, Beginning Balance | shares 3,649,962  
Options granted, Stock Options | shares 2,679,952  
Options cancelled or forfeited, Stock Options | shares (1,684,140)  
Options expired, Stock Options | shares (98,041)  
Outstanding. Stock Options, Ending Balance | shares 4,547,733 3,649,962
Vested and expected to vest at September 30, 2022, Stock Options | shares 4,547,733  
Options exercisable at September 30, 2022, Stock Options | shares 1,199,900  
Outstanding, Weighted Average Exercise Price, Beginning balance | $ / shares $ 24.13  
Options granted, Weighted Average Exercise Price | $ / shares 6.24  
Options cancelled or forfeited, Weighted Average Exercise Price | $ / shares 15.38  
Options expired, Weighted Average Exercise Price | $ / shares 24.72  
Outstanding, Weighted Average Exercise Price, Ending balance | $ / shares 16.82 $ 24.13
Vested and expected to vest at September 30, 2022, Weighted Average Exercise Price | $ / shares 16.82  
Options exercisable at September 30, 2022, Weighted Average Exercise Price | $ / shares $ 24.86  
Outstanding, Weighted Average Remaining Contractual Life 8 years 7 months 6 days 9 years 2 months 12 days
Vested and expected to vest at September 30, 2022, Weighted Average Remaining Contractual Life 8 years 7 months 6 days  
Options exercisable at September 30, 2022, Weighted Average Remaining Contractual Life 7 years 6 months