Equity Incentive Plans - Activity of Stock Options (Details)	3 Months Ended
	Mar. 31, 2022 $ / shares shares
Options Outstanding
Beginning balance (in shares) | shares	9,832,924
Options granted (in shares) | shares	1,947,230
Options exercised (in shares) | shares	(194,207)
Options cancelled and forfeited (in shares) | shares	(25,943)
Ending balance (in shares) | shares	11,560,004
Vested and exercisable (in shares) | shares	3,732,802
Weighted Average Exercise Price
Beginning balance (in shares) | $ / shares	$ 12.49
Options granted (in usd per share) | $ / shares	16.90
Options exercised (in usd per share) | $ / shares	3.98
Options cancelled and forfeited (in usd per share) | $ / shares	29.94
Ending balance (in shares) | $ / shares	13.34
Vested and exercisable (in usd per share) | $ / shares	$ 8.43