Equity Incentive Plans and Stock-Based Compensation - Summary of Option Activity (Details) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2022 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Options outstanding, Beginning Balance | shares	5,268,320
Options, Granted | shares	1,333,234
Options, Exercised | shares	(8,482)
Options, Forfeited and cancelled | shares	(168,748)
Options outstanding, Ending Balance | shares	6,424,324
Options, Exercisable | shares	2,812,462
Weighted Average Exercise Price, Options outstanding Beginning Balance | $ / shares	$ 14.16
Weighted Average Exercise Price, Granted | $ / shares	9.48
Weighted Average Exercise Price, Exercised | $ / shares	1.88
Weighted Average Exercise Price, Forfeited and Cancelled | $ / shares	17.87
Weighted Average Exercise Price, Options outstanding Ending Balance | $ / shares	13.10
Weighted Average Exercise Price, Exercisable | $ / shares	$ 9.29
Weighted Average Remaining Contractual Term (in years), Options outstanding	8 years 2 months 12 days
Weighted Average Remaining Contractual Term (in years), Exercisable	7 years 2 months 12 days
Aggregate Intrinsic Value, Options outstanding | $	$ 5,487
Aggregate Intrinsic Value, Exercisable | $	$ 5,037