Stockholders’ Equity (Deficit) and Equity Incentive Plan - Summary of Stock Options (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended
Jun. 30, 2022
Number of Shares
Beginning balance (in shares)	9,341,242
Granted (in shares)	0
Exercised (in shares)	(792,458)
Cancelled and forfeited (in shares)	(196,601)
Ending balance (in shares)	8,352,183
Vested and exercisable (in shares)	5,821,156
Weighted- Average Exercise Price
Beginning balance (in dollars per share)	$ 6.83
Granted (in dollars per share)	0
Exercised (in dollars per share)	2.42
Cancelled and forfeited (in dollars per share)	15.05
Ending Balance (in dollars per share)	7.05
Vested and exercisable (in dollars per share)	$ 4.71
Ending balance, Weighted Average Remaining Contractual Life	6 years 3 months 3 days
Vested and exercisable, Weighted Average Remaining Contractual Life	5 years 5 months 12 days
Exercise, aggregate intrinsic value	$ 9,641
Outstanding ending balance, aggregate intrinsic value	42,572
Vested and exercisable, aggregate intrinsic value	$ 35,775

Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

- Definition

For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.