Annual report pursuant to Section 13 and 15(d)

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

v3.22.0.1
Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding Options Granted 266,724 266,724
Outstanding Options Exercised (262,279) (257,834)
2004 Plan, 2018 Plan and 2021 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding Options, Beginning Balance 5,439,295  
Outstanding Options Granted 1,449,834  
Outstanding Options Exercised (237,370)  
Outstanding Options Canceled or Forfeited (139,673)  
Outstanding Options, Ending Balance 6,512,086 5,439,295
Outstanding Options Exercisable 3,866,289  
Weighted - Average Exercise Price, Beginning Balance $ 11.93  
Weighted - Average Exercise Price, Granted 20.27  
Weighted - Average Exercise Price, Exercised 10.47  
Weighted - Average Exercise Price, Canceled or Forfeited 10.94  
Weighted - Average Exercise Price, Ending Balance 13.86 $ 11.93
Weighted - Average Exercise Price, Exercisable $ 12.91  
Weighted - Average Remaining Contract Term 7 years 4 months 20 days 7 years 9 months
Weighted - Average Remaining Contract Term, Exercisable 6 years 7 months 17 days  
Aggregate Intrinsic Value, Balance $ 14,955 $ 53,202
Aggregate Intrinsic Value, Exercisable $ 9,170