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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