Stock-Based Compensation - Stock Option Activity (Details) - $ / shares	6 Months Ended
	Jun. 30, 2021
Number of shares
Balance at beginning of period	1,498,208
Granted	256,000
Exercised	(22,585)
Canceled/forfeited	(142,480)
Balance at end of period	1,589,143
Vested and expected to vest at end of period	1,542,430
Exercisable at end of period	884,493
Weighted average exercise price per share
Balance at beginning of period (in dollars per share)	$ 10.87
Granted ( in dollars per share)	15.89
Exercised (in dollars per share)	6.70
Canceled/forfeited (in dollars per share)	12.77
Balance at end of period (in dollars per share)	11.57
Vested and expected to vest at end of period (in dollars per share)	11.50
Exercisable at end of period (in dollars per share)	$ 9.94
Weighted average remaining contractual term (years)
Weighted average remaining contractual term, outstanding	7 years 2 months 4 days
Weighted average remaining contractual term, Vested and expected to vest	7 years 1 month 17 days
Weighted average remaining contractual term, Exercisable	5 years 11 months 1 day