Annual report pursuant to Section 13 and 15(d)

Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details)

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Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details) - shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Anti-dilutive securities      
Total shares excluded from diluted net loss per share applicable to common stockholders 14,334,911 12,193,144 7,852,873
Stock options      
Anti-dilutive securities      
Total shares excluded from diluted net loss per share applicable to common stockholders 6,657,268 5,468,605 4,618,421
Unvested Restricted Stock Units      
Anti-dilutive securities      
Total shares excluded from diluted net loss per share applicable to common stockholders 2,687,487 1,734,383 1,116,358
Warrants      
Anti-dilutive securities      
Total shares excluded from diluted net loss per share applicable to common stockholders 4,990,156 4,990,156 2,118,094