Stockholders’ Equity and Stock Option Plans - Summary of Stock Option Activity and Related Information (Details) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Number of Shares Underlying Outstanding Options
Beginning balance (in shares) | shares	6,542,351
Options granted (in shares) | shares	417,016
Options exercised (in shares) | shares	(227,234)
Options canceled (in shares) | shares	(89,300)
Ending balance (in shares) | shares	6,642,833	6,542,351
Vested (in shares) | shares	4,703,363
Weighted-Average Exercise Price
Beginning balance (in usd per share) | $ / shares	$ 6.08
Options granted (in usd per share) | $ / shares	26.64
Options exercised (in usd per share) | $ / shares	3.69
Options canceled (in usd per share) | $ / shares	12.69
Ending balance (in usd per share) | $ / shares	7.37	$ 6.08
Vested (in usd per share) | $ / shares	$ 4.32
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual term (years)	6 years 7 months 20 days	6 years 11 months 12 days
Weighted average remaining contractual term vested (in years)	5 years 11 months 1 day
Aggregate intrinsic value, awards outstanding | $	$ 74,321	$ 184,727
Aggregate intrinsic value, vested | $	$ 59,723