Equity Incentive Plans - Summary of Activity Under Stock Option activity (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended
Jun. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding, Beginning balance	6,553,594
Options Outstanding, Granted	2,527,579
Options Outstanding, Exercised	(429,955)
Options Outstanding, Forfeited and expired	(132,460)
Options Outstanding, Ending balance	8,518,758
Options Outstanding,Vested and expected to vest	8,518,758
Options Exercisable, Ending balance	3,407,092
Weighted-Average Exercise Price, Beginning balance	$ 16.07
Weighted-Average Exercise Price, Granted	20.40
Weighted Average Exercise Price, Exercised	8.18
Weighted Average Exercise Price, Forfeited and expired	18.90
Weighted-Average Exercise Price, Ending balance	17.71
Vested and expected to vest at June 30, 2022	17.71
Weighted-Average Exercise Price, Exercisable	$ 14.85
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	7 years
Aggregate Intrinsic Value, Ending balance	$ 23,987
Aggregate Intrinsic Value, Vested and expected to vest	23,987
Aggregate Intrinsic Value, Exercisable	$ 18,928
Restricted Stock Units [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding, Beginning balance
Options Outstanding, Granted	306,919
Options Outstanding, Exercised
Options Outstanding, Forfeited and expired	25,018
Options Outstanding, Ending balance	281,901
Options Outstanding,Vested and expected to vest	281,901
Weighted-Average Exercise Price, Beginning balance
Weighted-Average Exercise Price, Granted	20.02
Weighted Average Exercise Price, Exercised
Weighted Average Exercise Price, Forfeited and expired	20.02
Weighted-Average Exercise Price, Ending balance	20.02
Vested and expected to vest at June 30, 2022	$ 20.02
Aggregate Intrinsic Value, Ending balance	$ 5,643
Aggregate Intrinsic Value, Vested and expected to vest	$ 5,643

Share-based compensation arrangement by share-based payment award options forfeited and expired.

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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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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Weighted average price of options that were either forfeited or expired.

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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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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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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 exercise price, at which grantee can acquire shares reserved for issuance, for 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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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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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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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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