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Common Stock (Tables)
 6 Months Ended
Jun. 30, 2022
Equity [Abstract]  
Shares Reserved for Future Issuance Shares reserved for future issuance at June 30, 2022 are as follows:
 Number of
Shares
Common stock reserved for issuance for:
     2021 Employee Stock Purchase Plan 162,630 
Outstanding stock options3,713,248 
Common stock options available for future grant:
2014 Equity Incentive Plan43,311 
2017 Inducement Equity Incentive Plan46,250 
2019 Omnibus Equity Incentive Plan267,095 
Total common shares reserved for future issuance4,232,534