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)

v3.22.1
Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details) - 2004 Plan, 2018 Plan and 2021 Plan - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock options outstanding, Beginning Balance, Shares 6,512,086  
Granted, Shares 862,000  
Exercised, Shares (32,497)  
Canceled and forfeited, Shares (97,893)  
Stock options outstanding, Ending Balance, Shares 7,243,696 6,512,086
Stock options exercisable, Shares 4,140,938  
Stock options outstanding, Weighted - Average Exercise Price, Beginning Balance $ 13.86  
Weighted - Average Exercise Price, Granted 8.17  
Weighted - Average Exercise Price, Exercised 5.55  
Weighted - Average Exercise Price, Canceled and forfeited 13.23  
Stock options outstanding, Weighted - Average Exercise Price, Ending Balance 13.23 $ 13.86
Stock options exercisable, Weighted - Average Exercise Price, Exercisable $ 13.08  
Weighted - Average Remaining Contract Term 7 years 6 months 7 days 7 years 4 months 20 days
Weighted - Average Remaining Contract Term, Exercisable 6 years 6 months 29 days  
Aggregate Intrinsic Value, Balance $ 1,098 $ 14,955
Aggregate Intrinsic Value, Exercisable $ 672