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Equity Plans - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2022 | Mar. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | $ 5,935 | $ 2,660
Total unrecognized stock-based compensation costs related to stock options | $ 73,600 |
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 | $ 3,326 | 1,475
General and Administrative |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | $ 2,609 | $ 1,185

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