Stock Plans and Share-Based Compensation - Stock Option Activities (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Number of Shares
Balance at beginning of period (in shares)	598
Granted (in shares)	3,168	0	0
Exercised (in shares)	(1,436)
Forfeited (in shares)	(110)
Expired (in shares)	(232)
Balance at end of period (in shares)	1,988	598
Vested and expected to vest at end of period (in shares)	1,979
Exercisable at end of period (in shares)	1,552
Weighted- Average Exercise Price Per Share
Balance at beginning of period (in dollars per share)	$ 6.52
Granted (in dollars per share)	25.93
Exercised (in dollars per share)	15.52
Forfeited (in dollars per share)	33.42
Expired (in dollars per share)	30.93
Balance at end of period (in dollars per share)	26.60	$ 6.52
Vested and expected to vest at end of period (in dollars per share)	26.57
Exercisable at end of period (in dollars per share)	$ 24.81
Weighted- Average Remaining Contractual Term
Outstanding balance at end of period	5 years 2 months 19 days
Vested and expected to vest in the future at end of period	5 years 2 months 15 days
Exercisable at end of period	4 years 7 months 13 days
Aggregate Intrinsic Value
Outstanding balance at end of period	$ 7,380
Vested and expected to vest in the future at end of period	7,380
Exercisable at end of period	$ 7,380
Range of Option Prices, Minimum	$ 6.52
Range of Option Prices, Maximum	$ 35.14