v3.22.2.2
Stockholders' Equity and Equity Incentive Plans - Option Activity During the Period (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Mar. 31, 2022
Sep. 30, 2022
Number of Shares Underlying Outstanding Options    
Beginning balance (in shares) 4,284,072 4,284,072
Options granted (in shares)   1,458,967
Options exercised (in shares)   (69,930)
Options forfeited (in shares)   (581,966)
Ending balance (in shares)   5,091,143
Shares exercisable at end of period (in shares)   2,562,866
Shares vested and expected to vest at end of period (in shares)   5,091,143
Weighted Average Exercise Price    
Beginning balance (in dollars per share) $ 13.54 $ 13.54
Options granted (in dollars per share)   14.45
Options exercise price (in dollars per share)   1.09
Options forfeited (in dollars per share)   17.44
Ending balance (in dollars per share)   13.53
Shares vested and exercisable at end of period (in dollars per share)   11.55
Shares vested and expected to vest at end of period (in dollars per share)   $ 13.53
Weighted Average Remaining Contractual Term (Years)    
Weighted average contractual term (in years) 8 years 1 month 6 days 7 years 9 months 18 days
Shares vested and exercisable at end of period, weighted average remaining contractual term (in years)   6 years 9 months 18 days
Shares vested and expected to vest at end of period, weighted average remaining contractual term (in years)   7 years 9 months 18 days
Aggregate Intrinsic Value    
Aggregate intrinsic value, outstanding ending balance $ 28,874 $ 28,874
Aggregate intrinsic value, options, granted   0
Aggregate intrinsic value, options exercised   995
Aggregate intrinsic value, options forfeited   23
Aggregate intrinsic value, outstanding ending balance   3,122
Shares vested and exercisable at end of period, aggregate intrinsic value   3,023
Shares vested and expected to vest at end of period, aggregate intrinsic value   $ 3,122