Stock-Based Compensation - Stock Option Activity (Details)	3 Months Ended
	Mar. 31, 2021 $ / shares shares
Number of shares
Balance at beginning of period | shares	1,498,208
Granted | shares	180,575
Exercised | shares	(3,122)
Canceled/forfeited | shares	(41,339)
Balance at end of period | shares	1,634,322
Vested and expected to vest at end of period | shares	1,570,634
Exercisable at end of period | shares	729,909
Weighted average exercise price per share
Balance at beginning of period (in dollars per share) | $ / shares	$ 10.87
Granted ( in dollars per share) | $ / shares	16.99
Exercised (in dollars per share) | $ / shares	11.46
Canceled/forfeited (in dollars per share) | $ / shares	12.72
Balance at end of period (in dollars per share) | $ / shares	11.50
Vested and expected to vest at end of period (in dollars per share) | $ / shares	11.41
Exercisable at end of period (in dollars per share) | $ / shares	$ 8.86
Weighted average remaining contractual term (years)
Weighted average remaining contractual term, outstanding	7 years 9 months 18 days
Weighted average remaining contractual term, Vested and expected to vest	7 years 9 months 4 days
Weighted average remaining contractual term, Exercisable	6 years 6 months