Equity Incentive Plans - Summary of Activity Under Stock Option activity (Details) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2022 USD ($) $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding, Beginning balance	6,553,594
Options Outstanding, Granted	1,650,529
Options Outstanding, Exercised	(203,047)
Options Outstanding, Forfeited and expired	(25,650)
Options Outstanding, Ending balance	7,975,426
Options Outstanding,Vested and expected to vest	7,975,426
Options Exercisable, Ending balance	3,159,840
Weighted-Average Exercise Price, Beginning balance | $ / shares	$ 16.07
Weighted-Average Exercise Price, Granted | $ / shares	20.14
Weighted Average Exercise Price, Exercised | $ / shares	8.77
Weighted Average Exercise Price, Forfeited and expired | $ / shares	15.90
Weighted-Average Exercise Price, Ending balance | $ / shares	17.10
Vested and expected to vest at March 31, 2022 | $ / shares	17.10
Weighted-Average Exercise Price, Exercisable | $ / shares	$ 13.85
Weighted-Average Remaining Term, Ending balance	8 years 3 months 18 days
Weighted-Average Remaining Term, Vested and expected to vest	8 years 3 months 18 days
Weighted-Average Remaining Term, Exercisable	6 years 10 months 24 days
Aggregate Intrinsic Value, Ending balance | $	$ 43,369
Aggregate Intrinsic Value, Vested and expected to vest | $	43,369
Aggregate Intrinsic Value, Exercisable | $	$ 27,723
Restricted Stock Units [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding, Beginning balance	0
Options Outstanding, Granted	306,194
Options Outstanding, Forfeited and expired	(2,125)
Options Outstanding, Ending balance	304,069
Options Outstanding,Vested and expected to vest	304,069
Options Exercisable, Ending balance	0
Weighted-Average Exercise Price, Beginning balance | $ / shares	$ 0
Weighted-Average Exercise Price, Granted | $ / shares	20.02
Weighted Average Exercise Price, Forfeited and expired | $ / shares	20.02
Vested and expected to vest at March 31, 2022 | $ / shares	20.02
Weighted-Average Exercise Price, Exercisable | $ / shares	$ 0
Aggregate Intrinsic Value, Ending balance | $	$ 6,087
Aggregate Intrinsic Value, Vested and expected to vest | $	6,087
Aggregate Intrinsic Value, Exercisable | $	$ 0