Equity Incentive Plans and Stock-Based Compensation - Summary of Option Activity Under the 2015 Plan and 2020 Plan (Details) - 2015 Equity and 2020 Incentive Plan - Incentive Stock Options and Nonqualified Stock Options - USD ($)	3 Months Ended	12 Months Ended
	Mar. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Number of Options, Outstanding, Beginning balance (in shares)	3,620,180
Options granted (in shares)	1,691,370
Number of Options, Exercised (in shares)	(12,124)
Number of Options, Forfeited (in shares)	(102,557)
Number of Options, Outstanding, Ending balance (in shares)	5,196,869	3,620,180
Number of Options, Exercisable (in shares)	1,660,467
Number of Options, Vested and expected to vest (in shares)	5,196,869
Share-Based Compensation Arrangement By Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Roll Forward]
Weighted- Average Exercise Price per Share, Outstanding, Beginning balance (USD per share)	$ 14.56
Weighted- Average Exercise Price per Share, Granted (USD per share)	11.88
Weighted- Average Exercise Price per Share, Exercised (USD per share)	4.63
Weighted- Average Exercise Price per Share, Forfeited (USD per share)	11.19
Weighted- Average Exercise Price per Share, Outstanding, Ending balance (USD per share)	13.62	$ 14.56
Weighted- Average Exercise Price per Share, Exercisable (USD per share)	10.65
Weighted- Average Exercise Price per Share, Vested and expected to vest (USD per share)	$ 13.62
Weighted- Average Remaining Contractual Term (in Years), Outstanding	8 years 5 months 1 day	8 years 3 months
Weighted- Average Remaining Contractual Term (in Years), Exercisable	7 years 6 months 3 days
Weighted- Average Remaining Contractual Term (in Years), Vested and expected to vest	8 years 5 months 1 day
Aggregate Intrinsic Value, Outstanding balance	$ 4,445	$ 16,735
Aggregate Intrinsic Value, Exercisable	3,152
Aggregate Intrinsic Value, Vested and expected to vest	$ 4,445