Stock-Based Compensation - Stock Option Activity (Details) - $ / shares	6 Months Ended
	Jun. 30, 2022
Number of shares
Balance at beginning of period	1,706,409
Granted	322,285
Exercised	(1,964)
Canceled/forfeited	(67,293)
Balance at end of period	1,959,437
Vested and expected to vest at end of period	1,901,058
Exercisable at end of period	1,064,134
Weighted average exercise price per share
Balance at beginning of period (in dollars per share)	$ 11.88
Granted ( in dollars per share)	10.88
Exercised (in dollars per share)	6.09
Canceled/forfeited (in dollars per share)	13.49
Balance at end of period (in dollars per share)	11.67
Vested and expected to vest at end of period (in dollars per share)	11.64
Exercisable at end of period (in dollars per share)	$ 10.74
Weighted average remaining contractual term (years)
Weighted average remaining contractual term, outstanding	7 years 6 months
Weighted average remaining contractual term, Vested and expected to vest	7 years 5 months 12 days
Weighted average remaining contractual term, Exercisable	6 years 4 months 28 days