Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details) - 2004 Plan, 2018 Plan and 2021 Plan - $ / shares |
9 Months Ended |
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Sep. 30, 2022 | |
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] | |
| Stock options outstanding, Beginning Balance, Shares | 6,512,086 |
| Granted, Shares | 1,352,500 |
| Exercised, Shares | (49,454) |
| Canceled and forfeited, Shares | (341,605) |
| Stock options outstanding, Ending Balance, Shares | 7,473,527 |
| Stock options exercisable, Shares | 4,960,812 |
| Stock options outstanding, Weighted - Average Exercise Price, Beginning Balance | $ 13.86 |
| Weighted - Average Exercise Price, Granted | 7.16 |
| Weighted - Average Exercise Price, Exercised | 5.39 |
| Weighted - Average Exercise Price, Canceled and forfeited | 14.22 |
| Stock options outstanding, Weighted - Average Exercise Price, Ending Balance | 12.69 |
| Stock options exercisable, Weighted - Average Exercise Price, Exercisable | $ 13.13 |
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. No definition available.
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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan. Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition 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. Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition Gross number of share options (or share units) granted during the period. Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition Number of options outstanding, including both vested and non-vested options. Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition Weighted average price at which option holders acquired shares when converting their stock options into shares. Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated. Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options. Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition Number of share options (or share units) exercised during the current period. Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Details
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