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Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions				1 Months Ended	3 Months Ended		9 Months Ended
	Aug. 06, 2021	Jul. 02, 2021	Jun. 16, 2020	Jun. 30, 2020	Mar. 31, 2022	Mar. 31, 2021	Mar. 31, 2022	Dec. 31, 2021	Dec. 31, 2019	Jan. 31, 2013
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares authorized			400,000,000		400,000,000		400,000,000	400,000,000
Preferred stock undesignated shares authorized			40,000,000		40,000,000		40,000,000	40,000,000
Common stock par value per share			$ 0.0001		$ 0.0001		$ 0.0001	$ 0.0001
Preferred stock par value per share			$ 0.0001		$ 0.0001		$ 0.0001	$ 0.0001
Sale of stock number of shares issued in transaction					1,519,941		2,300,490
Sale of common stock maximum aggregate offering price		$ 150.0
Termination notice period for sales agreement		10 days
Net proceeds from Issuance of common stock after deducting offering-related transaction costs and commissions					$ 24.1		$ 43.7
Weighted-average grant date fair value of options granted					$ 10.71	$ 16.89
Time-based Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost					$ 68.4		$ 68.4
Weighted-average period of unrecognized compensation cost					3 years
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period					4 years
2013 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Units initially reserved for issuance										2,127,013
Increased to number of shares reserved under plan									4,771,615
2013 Equity Incentive Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period					10 years
2020 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock initially reserved for issuance				3,900,000
Percentage of shares of common stock outstanding on final day of immediately preceding calendar year				5.00%
Number of remaining shares available for issuance					2,449,129		2,449,129
2020 Incentive Award Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period					10 years
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Participant maximum contribution as percentage of eligible compensation				15.00%
Percentage of purchase price of shares of lower of fair market value				85.00%
Shares of common stock available for issuance					638,563		638,563
Shares issued under ESPP					0	0
Unrecognized compensation cost					$ 0.1		$ 0.1
Weighted-average period of unrecognized compensation cost					2 months 12 days
Employee Stock Purchase Plan \| Accounts Payable and Accrued Liabilities
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding liability					$ 0.4		$ 0.4
Public Offering
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock number of shares issued in transaction			16,560,000		2,300,490
Sale of stock, price per share			$ 18.00
Proceeds from the IPO, net of underwriting discounts, commissions and offering costs			$ 274.1
Sale of common stock maximum aggregate offering price		$ 150.0
Net proceeds from Issuance of common stock after deducting offering-related transaction costs and commissions					$ 43.7
Follow-on Public Offering \| Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock number of shares issued in transaction	9,200,000
Sale of stock, price per share	$ 18.00
Proceeds from the IPO, net of underwriting discounts, commissions and offering costs	$ 155.1
Proceeds from the follow-on public offering, net of underwriting discounts, commissions and offering costs	$ 155.1