Summary of Significant Accounting Policies - Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021
Accounting Policies [Line Items]
Antidilutive securities excluded from computation of diluted net loss per share	11,176,000	9,200,000
Options Outstanding [Member]
Accounting Policies [Line Items]
Antidilutive securities excluded from computation of diluted net loss per share	3,811,000	1,701,000
Restricted Stock Award [Member]
Accounting Policies [Line Items]
Antidilutive securities excluded from computation of diluted net loss per share	117,000	178,000
Unvested common stock subject to repurchase [Member]
Accounting Policies [Line Items]
Antidilutive securities excluded from computation of diluted net loss per share	29,000	102,000
Warrants To Purchase Common Stock [Member]
Accounting Policies [Line Items]
Antidilutive securities excluded from computation of diluted net loss per share	7,219,000	7,219,000