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Summary of Significant Accounting Policies - Schedule of Potentially Dilutive Securities not Included in Calculation of Diluted Net Loss Per Share/Unit (Details) - shares shares in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Total | 5,796 | 3,858 | 19,545
Convertible Preferred Stock |  |  |
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Total | 0 | 0 | 17,666
Warrant | Common Stock |  |  |
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Total | 0 | 0 | 9
Warrant | Convertible Preferred Stock |  |  |
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Total | 0 | 0 | 8
Common Stock Options Issued and Outstanding |  |  |
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Total | 5,778 | 3,788 | 1,667
Common Stock Subject to Repurchase or Forfeiture |  |  |
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Total | 15 | 69 | 195
ESPP Shares Pending Issuance |  |  |
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Total | 3 | 1 | 0

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- Definition Securities (including those issuable pursuant to contingent stock agreements) that could potentially dilute basic earnings per share (EPS) or earnings per unit (EPU) in the future that were not included in the computation of diluted EPS or EPU because to do so would increase EPS or EPU amounts or decrease loss per share or unit amounts for the period presented. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 260 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (c) -URI http://asc.fasb.org/extlink&oid=124432515&loc=d3e3550-109257 + Details
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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. + References No definition available. + Details
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