Stockholders' Equity (Deficit) - Schedule of Common Stock Reserved for Future Issuance (Details) - shares shares in Thousands	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Common stock reserved for future issuance	8,992	6,936
Common Stock Options Issued and Outstanding
Class Of Stock [Line Items]
Common stock reserved for future issuance	5,778	3,788
Equity Awards Available for Future Issuance under Equity Plans
Class Of Stock [Line Items]
Common stock reserved for future issuance	2,575	2,852
Common Stock Authorized under the ESPP
Class Of Stock [Line Items]
Common stock reserved for future issuance	639	296