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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Oct. 31, 2020
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Exercise price of stock option as a percent of fair market value, minimum   110.00%    
Common stock reserved for future issuance (in shares)   5,129,240 5,336,569 516,710
Options, grants in period, weighted average grant date fair value (in dollars per share)   $ 28.93 $ 4.26  
Options exercised in period, intrinsic value   $ 46,500 $ 1,600  
Total stock-based compensation   $ 25,927 7,348  
Former Chief Business Officer        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Accelerated vesting (in shares) 461,876      
Shares vested and expected to vest, outstanding (in shares)   76,304    
Total stock-based compensation $ 2,300   $ 2,800  
Stock Option        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   4 years    
Award expiration period   10 years    
Unrecognized compensation expense, amount   $ 60,800    
Unrecognized compensation expense, period for recognition   2 years 8 months 15 days    
Restricted stock units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation expense, amount   $ 14,400    
Unrecognized compensation expense, period for recognition   1 year 8 months 19 days    
Restricted stock units | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   2 years    
Restricted stock units | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   3 years    
Employee Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
ESPP, maximum employee subscription rate   15.00%    
Unrecognized compensation expense, amount   $ 200    
Unrecognized compensation expense, period for recognition   4 months 13 days    
Class A common stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common stock reserved for future issuance (in shares)   8,299,622    
Issuance of Class A common stock in connection with employee stock purchase plan (in shares)   17,929    
Class A common stock | Employee Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common stock reserved for future issuance (in shares)   1,195,327