Stockholders' Equity - Schedule of Reserve for Authorized but Unissued Shares of Common Stock (Details)	Dec. 31, 2021 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares reserved for issuance (in shares)	7,968,163
Common stock options and restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares reserved for issuance (in shares)	5,327,514
Common stock employee purchase plans
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares reserved for issuance (in shares)	2,640,649