Stockholders' Equity (Deficit) - Summary of Stock Option Activity (Details) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
Dec. 31, 2021 USD ($) $ / shares shares
Number of Options
Outstanding at December 31, 2020 \| shares	3,788
Granted \| shares	2,671
Exercised \| shares	(172)
Forfeited/expired \| shares	(509)
Outstanding at December 31, 2021 \| shares	5,778
Vested and expected to vest at December 31, 2021 \| shares	5,778
Exercisable at December 31, 2021 \| shares	1,885
Weighted-Average Exercise Price
Outstanding at December 31, 2020 \| $ / shares	$ 9.06
Granted \| $ / shares	23.23
Exercised \| $ / shares	5.42
Forfeited/expired \| $ / shares	22.99
Outstanding at December 31, 2021 \| $ / shares	14.49
Vested and expected to vest at December 31, 2021 \| $ / shares	14.49
Exercisable at December 31, 2021 \| $ / shares	$ 8.91
Weighted-Average Remaining Contractual Term and Aggregate Intrinsic Value
Outstanding, Weighted- Average Remaining Contractual Term (in years)	8 years 6 months
Vested and expected to vest, Weighted - Average Remaining Contractual Term (in years)	8 years 6 months
Exercisable, Weighted- Average Remaining Contractual Term (in years)	7 years 9 months 18 days
Outstanding, Aggregate Intrinsic Value \| $	$ 58,950
Vested and expected to vest, Aggregate Intrinsic Value \| $	58,950
Exercisable, Aggregate Intrinsic Value \| $	$ 29,226

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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