Equity Incentive Plans - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2022	Dec. 31, 2021
Shares Subject to Options Outstanding, Shares
Outstanding as of beginning balance (in shares)	9,434,660
Options granted (in shares)	4,041,165
Option exercised (in shares)	(39,525)
Options forfeited/cancelled (in shares)	(114,608)
Outstanding as ending balance (in shares)	13,321,692	9,434,660
Options vested and exercisable as of ending balance (in shares)	13,321,692
Options exercisable as of ending balance (in shares)	5,549,308
Shares Subject to Options Outstanding, Weighted Average Exercise Price
Outstanding as of beginning balance (in USD per share)	$ 12.24
Options granted (in USD per share)	11.86
Option exercised (in USD per share)	3.18
Options forfeited/cancelled (in USD per share)	15.49
Outstanding as of ending balance (in USD per share)	12.13	$ 12.24
Options vested and exercisable as of ending balance (in USD per share)	12.13
Options exercisable as of ending balance (in USD per share)	$ 12.40
Weighted-Average Remaining Contractual Life (in years)	7 years 10 months 24 days	7 years 4 months 24 days
Weighted-Average Remaining Contractual Life (in years), Options vested and exercisable as of end of period	7 years 10 months 24 days
Weighted-Average Remaining Contractual Life (in years), Options exercisable as of end of period	6 years 6 months
Aggregate Intrinsic Value	$ 7,047,000	$ 15,822,000
Aggregate Intrinsic Value, Options vested and exercisable as of end of period	7,047,000
Aggregate Intrinsic Value, Options exercisable as of end of period	$ 6,670,000