Equity Incentive Plans - Summary of Activity Under Stock Option activity (Details) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2023 USD ($) $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding, Beginning balance | shares	9,757,329
Options Outstanding, Granted | shares	2,171,590
Options Outstanding, Exercised | shares	(31,810)
Options Outstanding, Forfeited and expired | shares	(359,995)
Options Outstanding, Ending balance | shares	11,537,114
Options Outstanding,Vested and expected to vest | shares	11,537,114
Options Exercisable, Ending balance | shares	4,514,770
Weighted-Average Exercise Price, Beginning balance | $ / shares	$ 17.79
Weighted-Average Exercise Price, Granted | $ / shares	19.27
Weighted Average Exercise Price, Exercised | $ / shares	15.21
Weighted Average Exercise Price, Forfeited and expired | $ / shares	21.73
Weighted-Average Exercise Price, Ending balance | $ / shares	17.95
Vested and expected to vest at March 31, 2023 | $ / shares	17.95
Weighted-Average Exercise Price, Exercisable | $ / shares	$ 16.24
Weighted-Average Remaining Term, Ending balance	8 years 2 months 12 days
Weighted-Average Remaining Term, Vested and expected to vest	8 years 2 months 12 days
Weighted-Average Remaining Term, Exercisable	6 years 9 months 18 days
Aggregate Intrinsic Value, Ending balance | $	$ 14,260
Aggregate Intrinsic Value, Vested and expected to vest | $	14,260
Aggregate Intrinsic Value, Exercisable | $	$ 13,495
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding, Beginning balance | shares	290,311
Options Outstanding, Granted | shares	604,621
Options Outstanding, Exercised | shares	(81,294)
Options Outstanding, Forfeited and expired | shares	(7,238)
Options Outstanding, Ending balance | shares	806,400
Weighted-Average Exercise Price, Beginning balance | $ / shares	$ 19.88
Weighted-Average Exercise Price, Granted | $ / shares	19.64
Weighted Average Exercise Price, Exercised | $ / shares	19.54
Weighted Average Exercise Price, Forfeited and expired | $ / shares	19.84
Weighted-Average Exercise Price, Ending balance | $ / shares	$ 19.74