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Net Loss Per Share - Schedule of Outstanding Potentially Dilutive Securities Excluded From Calculation of Diluted Net Loss (Details) - shares
9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 17,621,091 2,577,202
Stock Options to Purchase Common Stock    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 3,123,221 2,403,733
Unvested Restricted Stock Units    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 1,118,735 110,978
Warrants to Purchase Common Stock    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 13,358,782 58,923
Employee Stock Purchase Plan    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 20,353 3,568