Equity Incentive Plans and Stock-Based Compensation - Summary of Fair Value of Stock Option Grants (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Stock price		$ 0.61
Dividend yield	0.00%	0.00%
Minimum
Class Of Stock [Line Items]
Stock price	$ 0.99
Risk-free rate of interest	0.80%	0.30%
Expected term (years)	5 years	5 years 7 months 6 days
Expected stock price volatility	88.20%	92.90%
Maximum
Class Of Stock [Line Items]
Stock price	$ 24.15
Risk-free rate of interest	1.40%	1.50%
Expected term (years)	6 years 1 month 6 days	6 years 1 month 6 days
Expected stock price volatility	99.90%	97.70%