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Stockholders' Equity - Narrative (Details)
1 Months Ended 12 Months Ended
Jan. 31, 2021
shares
Sep. 30, 2020
shares
Dec. 31, 2021
USD ($)
vote
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Oct. 05, 2020
shares
Dec. 31, 2019
$ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock, shares authorized (in shares) | shares     200,000,000 200,000,000 200,000,000  
Dividends declared     $ 0      
Number of votes for each share of common stock held | vote     1      
Shares reserved for future issuance (in shares) | shares     7,271,132 6,877,197    
Options exercised, aggregate intrinsic value     $ 43,800,000 $ 2,000,000    
Options outstanding, weighted average exercise price (in dollars per share) | $ / shares     $ 13.44 $ 4.72   $ 1.66
Options exercisable, weighted average exercise price (in dollars per share) | $ / shares     $ 13.44 $ 4.72    
Options outstanding, aggregate intrinsic value     $ 45,300,000 $ 188,000,000    
Options exercisable, aggregate intrinsic value     45,300,000 188,000,000    
Options vested and expenses to vest, intrinsic value     $ 18,900,000 $ 81,700,000    
Repurchase of early exercised common stock options (in shares) | shares     12,945 10,000    
Common stock, shares repurchased, less than     $ 100,000 $ 100,000    
Aggregate exercise price of shares subject to repurchase     $ 400,000 $ 600,000    
Options granted (in shares) | shares     421,200 1,466,071    
Fair value of stock options granted (in dollars per share) | $ / shares     $ 18.81 $ 3.78    
Unrecognized compensation costs     $ 33,700,000      
Fair value of shares vested     8,300,000 $ 1,900,000    
Inventory, Net            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock-based compensation capitalized into inventory     $ 1,000,000 $ 300,000    
Stock Plans            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares reserved for future issuance (in shares) | shares     11,269,901      
2000 Stock Plan | Directors, Employees And Consultants            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares reserved for future issuance (in shares) | shares     0 0    
Options to purchase common stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Purchase price of common stock, percentage of fair market value, greater than     100.00%      
Award vesting period     4 years      
Award expiration period, not more than     10 years      
Shares subject to repurchase (in shares) | shares     223,195 355,677    
Weighted-average period for recognition of compensation costs     3 years 1 month 24 days      
Options to purchase common stock | Share-based Payment Arrangement, Tranche One            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Award vesting rate     25.00%      
Options to purchase common stock | Share-based Payment Arrangement, Tranche Two            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Award vesting rate     25.00%      
Options to purchase common stock | Share-based Payment Arrangement, Tranche Three            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Award vesting rate     25.00%      
Options to purchase common stock | Share-based Payment Arrangement, Tranche Four            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Award vesting rate     25.00%      
Options to purchase common stock | Over 10% Shareholder            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Purchase price of common stock, percentage of fair market value, greater than     110.00%      
ESPP            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares reserved for future issuance (in shares) | shares   720,000 932,458 720,000    
Shares issued in period (in shares) | shares     144,479      
Maximum number of shares available per employee (in shares) | shares   2,500        
Increase in shares from automatic increase provision (in shares) | shares 369,317          
Unrecognized compensation costs     $ 100,000      
Weighted-average period for recognition of compensation costs     1 month 6 days      
Restricted Stock Units (RSUs)            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Options outstanding, aggregate intrinsic value     $ 14,200,000