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Stock Plans and Stock-Based Compensation - Assumptions used to Calculate Fair Value of Stock-Based Compensation (Details)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Expected term (in years) 10 years    
Dividend yield 0.00%    
Employee Stock Option      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Risk-free interest rate, minimum 1.00% 0.40% 1.60%
Risk-free interest rate, maximum 1.40% 0.50% 2.30%
Expected term (in years) 6 years 7 days 6 years 7 days 6 years 7 days
Volatility, minimum 75.30% 76.50% 71.80%
Volatility, maximum 77.60% 78.50% 74.60%
Dividend yield 0.00% 0.00% 0.00%
ESPP      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Risk-free interest rate, minimum 0.00% 0.10% 1.60%
Risk-free interest rate, maximum 0.60% 0.20% 2.30%
Volatility, minimum 61.20% 66.60% 64.80%
Volatility, maximum 95.70% 136.00% 77.10%
Dividend yield 0.00% 0.00% 0.00%
Minimum | ESPP      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Expected term (in years) 6 months 6 months 6 months
Maximum | ESPP      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Expected term (in years) 2 years 2 years 2 years