Convertible Preferred Stock and Stockholders' Equity - Schedule of Reserved Shares of Common Stock for Issuance, on an As-Converted Basis (Details) - shares	Mar. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Reserved shares of common stock for issuance	14,959,647	15,006,363
Convertible Preferred Stock
Class of Stock [Line Items]
Reserved shares of common stock for issuance	12,546,805	12,546,805
Stock Options Issued and Outstanding
Class of Stock [Line Items]
Reserved shares of common stock for issuance	2,075,045	1,898,084
Preferred Stock Warrants Issued and Outstanding
Class of Stock [Line Items]
Reserved shares of common stock for issuance	35,529	35,529
Vesting Conditions Placed on Previously Issued Common Shares
Class of Stock [Line Items]
Reserved shares of common stock for issuance	69,529	69,529
Authorized for Future Stock Awards or Option Grants
Class of Stock [Line Items]
Reserved shares of common stock for issuance	232,739	456,416