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Stock Options - Activity Under Stock Option Plan (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Number of Shares    
Outstanding at beginning of period (in shares) 6,112,948  
Options granted (in shares) 3,308,220  
Exercised (in shares) (421,381)  
Cancelled (in shares) (657,358)  
Outstanding at end of period (in shares) 8,342,429 6,112,948
Vested and expected to vest (in shares) 8,342,429  
Options exercisable, at end of period (in shares) 3,997,529  
Weighted- Average Exercise Price    
Outstanding at beginning of period (in dollars per share) $ 7.84  
Granted (in dollars per share) 16.78  
Exercised (in dollars per share) 4.36  
Cancelled (in dollars per share) 11.76  
Outstanding at end of period (in dollars per share) 11.25 $ 7.84
Vested and expected to vest (in dollars per share) 11.25  
Options exercisable, at end of period (in dollars per share) $ 7.63  
Additional Disclosures    
Weighted Average Remaining Contractual Term, Options outstanding 7 years 2 months 12 days 7 years 3 months 18 days
Weighted Average Remaining Contractual Term, Options, Vested and expected to vest 7 years 2 months 12 days  
Weighted Average Remaining Contractual Term, Options exercisable 5 years 6 months  
Aggregate Intrinsic Value, Options outstanding $ 8,458 $ 114,729
Aggregate Intrinsic Value, Options, Vested and expected to vest 8,458  
Aggregate Intrinsic Value, Options exercisable $ 7,539