Stock Plans and Stock-Based Compensation - Summary of Option Activity Includes Options Granted (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021 USD ($) $ / shares shares
Shares Subject to Outstanding Options
Beginning balance | shares	9,892,697
Options granted | shares	3,758,769
Options exercised | shares	(680,755)
Options forfeited or canceled | shares	(950,799)
Ending balance | shares	12,019,912
Options vested and expected to vest as of December 31, 2021 | shares	12,019,912
Options exercisable as of December 31, 2021 | shares	5,158,246
Weighted Average Exercise Price Per Share
Beginning balance | $ / shares	$ 13.88
Options granted | $ / shares	33.03
Options exercised | $ / shares	13.68
Options forfeited or canceled | $ / shares	19.08
Ending balance | $ / shares	19.46
Options vested and expected to vest as of December 31, 2021 | $ / shares	19.46
Options exercisable as of December 31, 2021 | $ / shares	$ 14.55
Weighted Average Remaining Contractual Term (in years)	8 years 7 days
Options vested and expected to vest, Weighted Average Remaining Contractual Term (in years)	8 years 7 days
Options exercisable, Weighted Average Remaining Contractual Term (in years)	7 years 1 month 24 days
Aggregate Intrinsic Value | $	$ 253,620
Options vested and expected to vest, Aggregate Intrinsic Value | $	253,620
Options exercisable, Aggregate Intrinsic Value | $	$ 133,742