Stock-Based Compensation - Summary of Stock-Based Compensation Expense by Award Type (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
Stock Options
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	8,585	4,729	4,217
Performance-based Stock Options
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense		1,392	280
RSUs
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	4,765	1,401	26
ESPP
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 1,028	$ 716	$ 335