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)

v3.22.2
Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details) - 2004 Plan, 2018 Plan and 2021 Plan
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock options outstanding, Beginning Balance, Shares | shares 6,512,086  
Granted, Shares | shares 1,302,500  
Exercised, Shares | shares (32,795)  
Canceled and forfeited, Shares | shares (274,360)  
Stock options outstanding, Ending Balance, Shares | shares 7,507,431 6,512,086
Stock options exercisable, Shares | shares 4,524,709  
Stock options outstanding, Weighted - Average Exercise Price, Beginning Balance | $ / shares $ 13.86  
Weighted - Average Exercise Price, Granted | $ / shares 7.17  
Weighted - Average Exercise Price, Exercised | $ / shares 5.56  
Weighted - Average Exercise Price, Canceled and forfeited | $ / shares 14.79  
Stock options outstanding, Weighted - Average Exercise Price, Ending Balance | $ / shares 12.70 $ 13.86
Stock options exercisable, Weighted - Average Exercise Price, Exercisable | $ / shares $ 13.13  
Weighted - Average Remaining Contract Term 7 years 4 months 24 days 7 years 4 months 20 days
Weighted - Average Remaining Contract Term, Exercisable 6 years 5 months 23 days  
Aggregate Intrinsic Value, Balance | $ $ 252 $ 14,955
Aggregate Intrinsic Value, Exercisable | $ $ 10