Quarterly report pursuant to Section 13 or 15(d)

Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details)

v3.21.2
Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Granted, Shares 266,724 266,724
Exercised, Shares (257,834) (257,834)
Stock options outstanding, Ending Balance, Shares 4,445  
2004 Plan, 2018 Plan and 2021 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock options outstanding, Beginning Balance, Shares 5,439,295  
Granted, Shares 1,383,950  
Exercised, Shares (185,974)  
Canceled and forfeited, Shares (103,499)  
Stock options outstanding, Ending Balance, Shares 6,533,772 5,439,295
Stock options exercisable, Shares 3,523,838  
Stock options outstanding, Weighted - Average Exercise Price, Beginning Balance | $ / shares $ 11.93  
Weighted - Average Exercise Price, Granted | $ / shares 20.40  
Weighted - Average Exercise Price, Exercised | $ / shares 10.60  
Weighted - Average Exercise Price, Canceled and forfeited | $ / shares 10.58  
Stock options outstanding, Weighted - Average Exercise Price, Ending Balance | $ / shares 13.78 $ 11.93
Stock options exercisable, Weighted - Average Exercise Price, Exercisable | $ / shares $ 12.73  
Weighted - Average Remaining Contract Term 7 years 7 months 24 days 7 years 9 months
Weighted - Average Remaining Contract Term, Exercisable 6 years 9 months 18 days  
Aggregate Intrinsic Value, Balance | $ $ 35,715 $ 53,202
Aggregate Intrinsic Value, Exercisable | $ $ 21,959