Equity Incentive Plans - Activity of Stock Options (Details)	9 Months Ended
	Sep. 30, 2022 $ / shares shares
Options Outstanding
Beginning balance (in shares) | shares	9,832,924
Options granted (in shares) | shares	2,930,552
Options exercised (in shares) | shares	(306,854)
Options cancelled and forfeited (in shares) | shares	(1,784,904)
Ending balance (in shares) | shares	10,671,718
Vested and exercisable (in shares) | shares	4,694,141
Weighted Average Exercise Price
Beginning balance (in shares) | $ / shares	$ 12.49
Options granted (in usd per share) | $ / shares	14.44
Options exercised (in usd per share) | $ / shares	4.52
Options cancelled and forfeited (in usd per share) | $ / shares	11.16
Ending balance (in shares) | $ / shares	13.48
Vested and exercisable (in usd per share) | $ / shares	$ 7.58