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Equity Plans - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | $ 4,775 | $ 1,888 | $ 11,371 | $ 5,932
Total unrecognized stock-based compensation costs related to stock options | 51,500 |  | $ 51,500 |
Period of unrecognized stock-based compensation costs to be recognized |  |  | 2 years 10 months 24 days |
Research and development |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 2,611 | 1,006 | $ 6,241 | 3,098
General and administrative |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | $ 2,164 | $ 882 | $ 5,130 | $ 2,834

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