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Stock-based Compensation - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions | 1 Months Ended | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | --- | ---
Apr. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021 | Jan. 01, 2022 | Dec. 31, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Common stock available for issuance (shares) |  | 6,597,000 |  | 6,597,000 |  |  | 5,264,000
Weighted-average grant date fair value of awards (in usd per share) |  | $ 2.48 | $ 10.80 | $ 6.25 | $ 8.15 |  |
Aggregate intrinsic fair value of options exercised |  | $ 0.1 | $ 0.2 | $ 0.3 | $ 0.3 |  |
Share-based compensation expense not yet recognized |  | $ 18.8 |  | $ 18.8 |  |  |
2021 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Maximum number of shares to be added annually, as a percentage of outstanding shares (percent) | 5.00% |  |  |  |  |  |
2017 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Common stock available for issuance (shares) |  | 1,918,600 |  | 1,918,600 |  |  |
Common Stock |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Common stock authorized to be issued (shares) | 3,352,725 |  |  |  |  |  |
Common Stock | 2021 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Common stock authorized to be issued (shares) | 2,843,116 |  |  |  |  | 1,380,397 |
Common Stock | 2017 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Common stock authorized to be issued (shares) | 31,884 |  |  |  |  |  |
Unvested RSAs | 2017 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Share-based compensation expense not yet recognized |  | $ 0.2 |  | $ 0.2 |  |  |
Share-based compensation not yet recognized, recognition period |  |  |  | 10 months 24 days |  |  |
Aggregate fair value of awards that vested |  | 0.3 | $ 0.8 | $ 0.8 | $ 1.1 |  |
Unvested RSAs | 2021 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Common stock authorized to be issued (shares) | 477,725 |  |  |  |  |  |
Stock options |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Share-based compensation not yet recognized, recognition period |  |  |  | 2 years 8 months 12 days |  |  |
Employee stock | 2021 Stock Employee Stock Purchase Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Common stock authorized to be issued (shares) | 244,000 |  |  |  |  |  |
Maximum number of shares to be added annually, as a percentage of outstanding shares (percent) | 1.00% |  |  |  |  |  |
Employee stock | 2021 Stock Employee Stock Purchase Plan | Minimum |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Maximum number of shares to be added annually, as a percentage of outstanding shares (shares) | 488,000 |  |  |  |  |  |
Shares reserved for vesting of restricted stock units | 2021 Stock Incentive Plan |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Share-based compensation expense not yet recognized |  | $ 1.1 |  | $ 1.1 |  |  |
Share-based compensation not yet recognized, recognition period |  |  |  | 1 year 11 months 8 days |  |  |

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