Equity Incentive Plan - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
Mar. 31, 2022	Dec. 31, 2021
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Number of Options, Beginning Balance	3,712,274
Number of Options, Exercised	(45,180)
Number of Options, Cancelled	(81,777)
Number of Options, Ending Balance	3,585,317	3,712,274
Number of Options vested and expected to vest as of March 31, 2022	3,585,317
Number of Options vested and exercisable as of March 31, 2022	1,723,547
Weighted-Average Exercise Price, Beginning Balance	$ 3.30
Weighted-Average Exercise Price, Exercised	1.62
Weighted-Average Exercise Price, Cancelled	8.02
Weighted-Average Exercise Price, Ending Balance	3.21	$ 3.30
Weighted-Average Exercise Price, Options vested and expected to vest as of March 31, 2022	3.21
Weighted-Average Exercise Price, Options vested and exercisable as of March 31, 2022	$ 2.39
Weighted-Average Remaining Contractual Term, Balance	7 years 10 months 24 days	8 years 1 month 6 days
Weighted-Average Remaining Contractual Term, Options vested and expected to vest as of March 31, 2022	7 years 10 months 24 days
Weighted-Average Remaining Contractual Term, Options vested and exercisable as of March 31, 2022	7 years 7 months 6 days
Aggregate Intrinsic Value, Beginning Balance		$ 23,150
Aggregate Intrinsic Value, Exercised	$ 154
Aggregate Intrinsic Value, Ending Balance	6,503
Aggregate Intrinsic Value, Options vested and expected to vest as of March 31, 2022	6,503
Aggregate Intrinsic Value, Options vested and exercisable as of March 31, 2022	$ 3,581

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for fully vested and expected to vest exercisable or convertible options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of share options (or share units) exercised during the current period.

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