Stock-Based Compensation - Summary of Stock-Based Compensation Expense by Function (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 14,378	$ 8,238	$ 4,858
Costs of revenues
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	1,414	854	480
Research and development
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	4,064	1,773	903
Selling, general, and administrative
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 8,900	$ 5,611	$ 3,475