Cash, Cash Equivalents and Marketable Securities - Summary of Cash, Cash Equivalents and Marketable Securities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents, Amortized cost	$ 181,726	$ 187,750
Cash and cash equivalents, Unrealized losses	(2)
Cash and cash equivalents, Estimated Fair Value	181,724	187,750
Marketable securities, Amortized cost	173,459	62,619
Marketable securities, Unrealized gains	5	6
Marketable securities, Unrealized losses	(136)	(3)
Marketable securities, Estimated Fair Value	173,328	62,622
Cash
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents, Amortized cost	44,499	5,659
Cash and cash equivalents, Estimated Fair Value	44,499	5,659
Money Market Funds
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents, Amortized cost	117,023	113,592
Cash and cash equivalents, Estimated Fair Value	117,023	113,592
Certificates of Deposit
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents, Amortized cost		157
Cash and cash equivalents, Estimated Fair Value		157
Commercial Paper
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents, Amortized cost	16,898	40,844
Cash and cash equivalents, Unrealized losses	(1)
Cash and cash equivalents, Estimated Fair Value	16,897	40,844
Marketable securities, Amortized cost	34,978	35,089
Marketable securities, Unrealized losses	(10)
Marketable securities, Estimated Fair Value	34,968	35,089
U.S. Government and Agency Securities
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents, Amortized cost		27,498
Cash and cash equivalents, Estimated Fair Value		27,498
Marketable securities, Amortized cost	85,309	26,026
Marketable securities, Unrealized gains	1	6
Marketable securities, Unrealized losses	(88)	(3)
Marketable securities, Estimated Fair Value	85,222	26,029
Corporate Debt Securities
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents, Amortized cost	3,306
Cash and cash equivalents, Unrealized losses	(1)
Cash and cash equivalents, Estimated Fair Value	3,305
Marketable securities, Amortized cost	53,172	1,504
Marketable securities, Unrealized gains	4
Marketable securities, Unrealized losses	(38)
Marketable securities, Estimated Fair Value	$ 53,138	$ 1,504