Annual report pursuant to Section 13 and 15(d)

Net Loss Per Share - Summary of Common Stock Equivalents of Antidilutive Securities Excluded from Computation of Diluted Net Loss per Share (Details)

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Net Loss Per Share - Summary of Common Stock Equivalents of Antidilutive Securities Excluded from Computation of Diluted Net Loss per Share (Details) - shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of net loss per share 9,098,287 6,314,039 4,321,697
Common Stock Options Issued and Outstanding      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of net loss per share 6,512,086 5,439,295 3,872,664
Restricted Stock Units Issued and Outstanding      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of net loss per share 2,403,826 666,375 335,799
Warrants to Purchase Common Stock      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of net loss per share 127,616 153,070 71,813
Shares to be issued under ESPP      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of net loss per share 54,759 55,299 41,421