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Stock Plans - Summary of Stock Option Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Number of Shares      
Number of shares, beginning balance (in shares) 2,835,265 178,787  
Granted (in shares) 588,980 2,951,534  
Exercised (in shares) (300,768) (112,049)  
Cancelled (in shares) (84,507) (183,007)  
Number of shares, ending balance (in shares) 3,038,970 2,835,265 178,787
Vested and exercisable (in shares) 1,034,861    
Vested and expected to vest (in shares) 3,038,970    
Weighted-Average Exercise Price      
Beginning balance (in dollars per share) $ 0.03 $ 47.97  
Granted (in dollar per share) 13.40 0.03  
Exercised (in dollar per share) 0.03 0.10  
Cancelled (in dollar per share) 0.48 46.82  
Ending balance (in dollars per share) 2.61 $ 0.03 $ 47.97
Vested and exercisable (in dollars per share) 0.64    
Vested and expected to vest (in dollars per share) $ 2.61    
Weighted Average Remaining Contractual Term (in Years)      
Balance 8 years 9 months 29 days 9 years 6 months 25 days 7 years 10 months 20 days
Exercisable 8 years 7 months 13 days    
Vested and expected to vest 8 years 9 months 29 days