Stock-Based Compensation - Stock Option Activity (Details)	3 Months Ended
	Mar. 31, 2022 $ / shares shares
Number of shares
Balance at beginning of period | shares	1,706,409
Granted | shares	239,175
Exercised | shares	(1,154)
Canceled/forfeited | shares	(58,349)
Balance at end of period | shares	1,886,081
Vested and expected to vest at end of period | shares	1,823,043
Exercisable at end of period | shares	955,734
Weighted average exercise price per share
Balance at beginning of period (in dollars per share) | $ / shares	$ 11.88
Granted ( in dollars per share) | $ / shares	11.83
Exercised (in dollars per share) | $ / shares	6.21
Canceled/forfeited (in dollars per share) | $ / shares	13.34
Balance at end of period (in dollars per share) | $ / shares	11.84
Vested and expected to vest at end of period (in dollars per share) | $ / shares	11.79
Exercisable at end of period (in dollars per share) | $ / shares	$ 10.46
Weighted average remaining contractual term (years)
Weighted average remaining contractual term, outstanding	7 years 7 months 17 days
Weighted average remaining contractual term, Vested and expected to vest	7 years 6 months 29 days
Weighted average remaining contractual term, Exercisable	6 years 4 months 28 days