Equity Incentive Plans and Stock-Based Compensation - Summary of Option Activity (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021 USD ($) $ / shares shares
Share-based Payment Arrangement [Abstract]
Options outstanding, Beginning Balance | shares	3,996,174
Options, Granted | shares	1,694,692
Options, Exercised | shares	(160,303)
Options, Forfeited and cancelled | shares	(262,243)
Options outstanding, Ending Balance | shares	5,268,320
Options, Exercisable | shares	2,317,374
Weighted Average Exercise Price, Options outstanding Beginning Balance | $ / shares	$ 9.03
Weighted Average Exercise Price, Granted | $ / shares	26.55
Weighted Average Exercise Price, Exercised | $ / shares	6.26
Weighted Average Exercise Price, Forfeited and Cancelled | $ / shares	21.02
Weighted Average Exercise Price, Options outstanding Ending Balance | $ / shares	14.16
Weighted Average Exercise Price, Exercisable | $ / shares	$ 6.76
Weighted Average Remaining Contractual Term (in years), Options outstanding	7 years 10 months 24 days
Weighted Average Remaining Contractual Term (in years), Exercisable	7 years 1 month 6 days
Aggregate Intrinsic Value, Options outstanding | $	$ 25,633
Aggregate Intrinsic Value, Exercisable | $	$ 19,965