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Stock-Based Compensation - Additional Information (Details) - USD ($) |  | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jan. 01, 2022 | Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021 | Dec. 31, 2021 | Oct. 15, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Change in accounting principle, ASU, adopted [true false] |  | true |  | true |  |  |
Change in accounting principle, ASU, Adoption date |  | Jan. 01, 2022 |  | Jan. 01, 2022 |  |  |
Accumulated deficit |  | $ (923,435,000) |  | $ (923,435,000) |  | $ (871,922,000) |
Common stock reserved for future issuance |  | 38,782,316 |  | 38,782,316 |  |  |
Stock based compensation expense |  | $ 8,113,000 | $ 1,105,000 | $ 14,708,000 | $ 1,952,000 |  |
Unamortized stock-based compensation expense |  | $ 16,583,000 |  | $ 16,583,000 |  |  |
Restricted Stock Units |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Common stock reserved for future issuance |  | 8,043,664 |  | 8,043,664 |  |  |
Vesting period |  |  |  | 1 year |  |  |
Unamortized stock-based compensation expense |  | $ 59,982,000 |  | $ 59,982,000 |  |  |
Weighted average amortization period |  |  |  | 3 years |  |  |
Restricted Stock Units | Minimum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  | 2 years |  |  |
Restricted Stock Units | Maximum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  | 4 years |  |  |
Stock Options |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Common stock reserved for future issuance |  | 7,596,230 |  | 7,596,230 |  |  |
Weighted average amortization period |  |  |  | 2 years 10 months 24 days |  |  |
Stock Options | Minimum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  | 3 years |  |  |
Granting period |  |  |  | 5 years |  |  |
Stock Options | Maximum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  | 4 years |  |  |
Granting period |  |  |  | 10 years |  |  |
ESPP |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Increase in number of shares authorized | 1,968,048 |  |  | 4,584,950 |  |  |
Common stock reserved for future issuance |  |  |  |  |  |  | 2,703,452
Percentage of common stock outstanding | 1.00% |  |  |  |  |  |
Stock based compensation expense |  | $ 145,000 |  | $ 341,000 |  |  |
ESPP | Maximum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Increase in number of shares authorized | 2,703,452 |  |  |  |  |  |
2021 Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Number of shares allocated to be granted or issued |  | 18,557,472 |  | 18,557,472 |  |  |
Increase in number of shares authorized | 9,840,242 |  |  |  |  |  |
2021 Plan | Restricted Stock Units |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  | 7 years |  |  |
Stock based compensation expense |  |  |  | $ 0 |  |  |
Expiration period |  |  |  | 3 years |  |  |
2021 ESPP |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Purchase price expressed as percentage of fair value of common stock |  |  |  | 85.00% |  |  |
Minimum participant purchase common stock value |  |  |  | $ 25,000 |  |  |
Cumulative Effect Adjustment |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Accumulated deficit | $ 629,000 |  |  |  |  |  |

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