Stock-Based Compensation - Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Number of shares
Balance at beginning of period	1,498,208	1,420,942	489,222
Granted	468,000	175,086	978,415
Exercised	(77,154)	(27,783)	(2,527)
Early exercised			(471)
Canceled/forfeited	(182,645)	(70,037)	(43,697)
Balance at end of period	1,706,409	1,498,208	1,420,942
Vested and expected to vest at end of period	1,657,511
Exercisable at end of period	917,602
Weighted average exercise price per share
Balance at beginning of period (in dollars per share)	$ 10.87	$ 10.35	$ 5.84
Granted ( in dollars per share)	14.80	15.03	12.51
Exercised (in dollars per share)	7.08	6.29	5.93
Early exercised (in dollars per share)			5.93
Canceled/forfeited (in dollars per share)	13.08	12.41	8.58
Balance at end of period (in dollars per share)	11.88	$ 10.87	$ 10.35
Vested and expected to vest at end of period (in dollars per share)	11.83
Exercisable at end of period (in dollars per share)	$ 10.23
Weighted average remaining contractual term (years)
Weighted average remaining contractual term, outstanding	7 years 4 months 9 days
Weighted average remaining contractual term, Vested and expected to vest	7 years 3 months 21 days
Weighted average remaining contractual term, Exercisable	6 years 2 months 4 days