Quarterly report pursuant to Section 13 or 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
 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of net loss per share 11,531,291 8,429,329
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 7,507,431 6,250,931
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 3,737,945 1,988,426
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
Employee Stock Purchase Plan    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive securities excluded from computation of net loss per share 158,299 36,902