Stockholders' Equity - Shares Reserved for Future Issuance (Details) - shares	Dec. 31, 2021	Dec. 31, 2020	Sep. 30, 2020
Class of Stock [Line Items]
Shares reserved for future issuance (in shares)	7,271,132	6,877,197
Common stock options issued and outstanding
Class of Stock [Line Items]
Shares reserved for future issuance (in shares)	2,145,131	2,923,403
Common stock restricted stock units issued and outstanding
Class of Stock [Line Items]
Shares reserved for future issuance (in shares)	442,428	0
Common stock available for future grants
Class of Stock [Line Items]
Shares reserved for future issuance (in shares)	3,751,115	3,233,794
Shares committed under ESPP
Class of Stock [Line Items]
Shares reserved for future issuance (in shares)	932,458	720,000	720,000