Net Loss per Share Attributable to Common Stockholders - Antidilutive Securities (Details) - shares	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Earnings Per Common Share [Line Items]
Antidilutive securities (in shares)	15,480,352	15,736,614
Convertible preferred stock
Earnings Per Common Share [Line Items]
Antidilutive securities (in shares)	0	3,359,195
Restricted Stock Units
Earnings Per Common Share [Line Items]
Antidilutive securities (in shares)	908,449	0
Options outstanding
Earnings Per Common Share [Line Items]
Antidilutive securities (in shares)	14,399,126	12,377,419
Shares issuable pursuant to the ESPP
Earnings Per Common Share [Line Items]
Antidilutive securities (in shares)	172,777	0