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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

X

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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