Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details) - shares	6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	17,230,034	13,376,141
Stock options
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	7,649,178	6,415,030
Unvested Restricted Stock Units
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	4,590,700	1,970,955
Warrants
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	4,990,156	4,990,156