Stock Plans and Stock-Based Compensation - Summary of Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2021	Dec. 31, 2020
Number of Options
Outstanding (beginning balance) (in shares)	8,668,005
Granted (in shares)	2,006,100
Exercised (in shares)	(98,886)
Canceled (in shares)	(211,450)
Outstanding (ending balance) (in shares)	10,363,769	8,668,005
Exercisable (in shares)	6,127,217
Vested and unvested expected to vest (in shares)	10,083,019
Weighted Average Exercise Price per Share
Outstanding (beginning balance) (in dollars per share)	$ 2.71
Granted (in dollars per share)	9.07
Exercised (in dollars per share)	1.67
Canceled (in dollars per share)	10.09
Outstanding (ending balance) (in dollars per share)	3.80	$ 2.71
Exercisable (in dollars per share)	3.24
Vested and unvested expected to vest (in dollars per share)	$ 3.76
Weighted Average Remaining Contractual Life and Aggregate Intrinsic Value
Outstanding	7 years 4 months 28 days	7 years 11 months 23 days
Exercisable	6 years 9 months 7 days
Vested and unvested expected to vest	7 years 4 months 13 days
Outstanding	$ 24,749
Exercisable	16,572
Vested and unvested expected to vest	$ 24,287

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Weighted average price of options that were either forfeited or expired.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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