Stockholders' Equity - Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Number of Shares
Balance, beginning of period (in shares)	2,923,403	3,279,324
Options granted (in shares)	421,200	1,466,071
Options exercised (in shares)	(1,065,567)	(1,745,040)
Options canceled (in shares)	(133,905)	(76,952)
Balance, end of period (in shares)	2,145,131	2,923,403
Weighted Average Exercise Price
Balance, beginning of period (in dollars per share)	$ 4.72	$ 1.66
Options granted (in dollars per share)	43.79	7.73
Options exercised (in dollars per share)	1.77	1.55
Options canceled (in dollars per share)	11.44	3.55
Balance, end of period (in dollars per share)	$ 13.44	$ 4.72