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Equity Plans - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	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

X

- Definition

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

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