Stock-Based Compensation Expense - Common stock reserved for future issuance (Details) - shares		Mar. 31, 2023	Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares of common stock reserved		11,211,671	11,816,582
Future [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares of common stock reserved	[1]	1,937,385	3,454,064
Restricted Stock Units
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares of common stock reserved		797,794	492,862
Stock options issued and outstanding under the 2006, 2015 and 2021 plans
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares of common stock reserved		7,349,720	6,339,558
Shares available for future issuance under the 2006,2015 and 2021 plans
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares of common stock reserved		461,796	865,122
The 2021 ESPP Plan [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares of common stock reserved		664,976	664,976

[1] Based on the closing stock price of $16.68 as reported on the Nasdaq Global Market on March 31, 2023.