Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details)

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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
Sep. 30, 2022
Dec. 31, 2021
Stockholders Equity [Line Items]    
Reserved common stock 13,877,879 11,221,420
Common Stock Options Issued and Outstanding    
Stockholders Equity [Line Items]    
Reserved common stock 7,473,527 6,512,086
Common Stock Awards Issued and Outstanding    
Stockholders Equity [Line Items]    
Reserved common stock 3,893,070 2,403,826
Remaining Shares Reserved for Issuance under 2018 Equity Incentive Plan and 2021 Equity Inducement Plan    
Stockholders Equity [Line Items]    
Reserved common stock 1,517,671 1,504,641
Shares Reserved for Issuance Under 2018 Employee Stock Purchase Plan    
Stockholders Equity [Line Items]    
Reserved common stock 865,995 673,251
Warrants to Purchase Common Stock    
Stockholders Equity [Line Items]    
Reserved common stock 127,616 127,616