Net Loss Per Share Attributable to Common Stockholders - Schedule of Anti-dilutive Outstanding Shares or Equivalents (Details) - shares	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Anti-dilutive outstanding shares or equivalents	11,388,123	39,041,159
Options To Purchase Common Stock
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Anti-dilutive outstanding shares or equivalents	6,994,758	2,277,296
Common Stock Subject To Vesting Or Repurchase
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Anti-dilutive outstanding shares or equivalents	4,295,744	6,002,187
Employee Stock Purchase Plan shares
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Anti-dilutive outstanding shares or equivalents	97,621
Redeemable Convertible Preferred Stock
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Anti-dilutive outstanding shares or equivalents		30,761,676