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Stockholders' Equity - Equity Plan (Details)
12 Months Ended
Dec. 31, 2021
USD ($)
offering_period
shares
Jun. 30, 2021
shares
Jun. 30, 2020
shares
May 31, 2017
shares
Jan. 01, 2013
shares
2018 Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of shares authorized for issuance   6,000,000 2,500,000    
Number of shares available for future grant 5,585,661        
2018 Plan | Stock options | Share-based award tranche one          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Expiration period (in years) 2 years        
2018 Plan | Stock options | Share-based award tranche two          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Expiration period (in years) 3 years        
2018 Plan | Stock options | Share-based award tranche three          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Expiration period (in years) 10 years        
ESPP          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of offering periods | offering_period 2        
Term of offering period 6 months        
Maximum annual contribution per employee as percent of annual salary 15.00%        
Maximum annual contribution per employee | $ $ 25,000        
Purchase price measurement as percent of closing price on enrollment date 85.00%        
Purchase price measurement as percent of closing price on exercise date 85.00%        
2012 ESPP          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of shares authorized for issuance         50,000
2017 ESPP          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of shares authorized for issuance       100,000  
Amended 2017 ESPP          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of shares authorized for issuance     500,000    
Number of shares available for future grant 300,577        
Shares issued under ESPP 47,132