Stockholders' Equity - Schedule of Shares of Common Stock Reserved (Details)	Mar. 31, 2022 shares
Class Of Stock [Line Items]
Shares of common stock reserved	21,152,080
Outstanding Stock Options
Class Of Stock [Line Items]
Shares of common stock reserved	13,095,784
Unvested Performance Stock Units and Restricted Stock Units
Class Of Stock [Line Items]
Shares of common stock reserved	4,580,441
Reserved for Future Stock Award Grants
Class Of Stock [Line Items]
Shares of common stock reserved	2,008,859
Reserved for ESPP
Class Of Stock [Line Items]
Shares of common stock reserved	1,466,996