Stock-Based Compensation - Stock Option Activity (Details) - $ / shares	9 Months Ended
	Sep. 30, 2022
Number of shares
Balance at beginning of period	1,706,409
Granted	380,360
Exercised	(2,204)
Canceled/forfeited	(75,376)
Balance at end of period	2,009,189
Vested and expected to vest at end of period	1,956,285
Exercisable at end of period	1,167,504
Weighted average exercise price per share
Balance at beginning of period (in dollars per share)	$ 11.88
Granted ( in dollars per share)	10.44
Exercised (in dollars per share)	6.08
Canceled/forfeited (in dollars per share)	13.30
Balance at end of period (in dollars per share)	11.57
Vested and expected to vest at end of period (in dollars per share)	11.55
Exercisable at end of period (in dollars per share)	$ 10.99
Weighted average remaining contractual term (years)
Weighted average remaining contractual term, outstanding	7 years 3 months 25 days
Weighted average remaining contractual term, Vested and expected to vest	7 years 3 months 7 days
Weighted average remaining contractual term, Exercisable	6 years 3 months 25 days