Summary of Significant Accounting Policies (Tables)

12 Months Ended

Dec. 31, 2021

Accounting Policies [Abstract]

Schedule of Potentially Dilutive Securities not Included in Calculation of Diluted Net Loss Per Share/Unit

Potentially dilutive securities not included in the calculation of diluted net loss per share/unit, because to do so would be anti-dilutive, are as follows (in common stock/unit equivalent shares; in thousands):

	December 31,
	2021		2020		2019
Convertible preferred stock		—		—		17,666
Warrant to purchase convertible preferred stock		—		—		8
Warrant to purchase common stock		—		—		9
Common stock options issued and outstanding		5,778		3,788		1,667
Common stock subject to repurchase or    forfeiture		15		69		195
ESPP shares pending issuance		3		1		—
Total		5,796		3,858		19,545