Stockholders' Equity - Common Stock Reserved for Future Issuance (Details) - shares	Mar. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	21,493,304	19,796,006
2011 Equity Incentive Plan
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	0	0
2011 Equity Incentive Plan | Options outstanding
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	12,855,847	13,506,662
2021 Equity Incentive Plan
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	4,621,192	3,880,274
2021 Equity Incentive Plan | Options outstanding
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	1,543,320	1,433,520
2021 Equity Incentive Plan | Restricted Stock Units
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	908,449	18,750
2021 Employee Stock Purchase Plan
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	1,564,496	956,800