Stock Plans and Stock-Based Compensation - Narrative (Details)	1 Months Ended	12 Months Ended
	May 31, 2021 shares	Dec. 31, 2021 USD ($) plan purchase_period $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares	Dec. 31, 2019 USD ($) $ / shares	Dec. 31, 2016 purchase_period
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Number of shareholder-approved, share-based compensation plans | plan		2
Granted (in shares)		2,006,100
Awarded (in shares)		720,200
Weighted average grant-date fair values of stock options (in dollars per share) | $ / shares		$ 7.25	$ 0.84	$ 0.85
Unrecognized compensation cost, including impact of estimated forfeitures | $		$ 10,600,000
Weighted average period of when compensation expense is expected to be recognized		2 years 1 month 6 days
Intrinsic values of employee stock options exercised | $		$ 300,000
Income tax benefit | $		$ 0	$ 0	$ 0
Tranche one
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Percentage of vested shares which are exercisable under stock option		25.00%
Tranche two
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Percentage of vested shares which are exercisable under stock option		6.25%
Vesting period (years)		3 months
Amended and Restated 2010 Stock Incentive Plan
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Number of shares available for issue (up to)		23,190,000
Period of time options are exercisable		10 years
Number of shares under award to be removed from share pool		13,545,440
Amended and Restated 2010 Stock Incentive Plan | Maximum
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Price charged for award based on fair market value percentage (less than)		100.00%
2010 Plan
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Granted (in shares)		1,128,900
Vesting period (years)		4 years
2010 Plan | Non-Employee Directors
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Granted (in shares)		157,000
Vesting period (years)		1 year
2010 Plan | Tranche one
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Percentage of vested shares which are exercisable under stock option		25.00%
2010 Plan | Tranche two
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Percentage of vested shares which are exercisable under stock option		6.25%
2010 Employee Stock Purchase Plan
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Shares issued under ESPP during period (in shares)		43,860
Shares available for future purchase under ESPP (in shares)		1,553,530
Employee Stock Purchase Plan | Amended and Restated 2010 Stock Incentive Plan
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Additional shares authorized under the plan (in shares)	11,000,000
Employee Stock Purchase Plan | 2010 Employee Stock Purchase Plan
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Price charged for award based on fair market value percentage (less than)		85.00%
Shares available under plan (in shares)		2,000,000
Enrollment period		2 years
Number of purchase periods per year | purchase_period		4			2
Term of purchase periods		6 months			6 months
Stock Options, or Stock Appreciation Rights | Amended and Restated 2010 Stock Incentive Plan
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Shares removed from available share pool (per share) | $ / shares		$ 1
Restricted Stock, RSUs, Other Stock-Based Awards, or Performance Awards | Amended and Restated 2010 Stock Incentive Plan
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Shares removed from available share pool (per share) | $ / shares		$ 1.3
Restricted Stock
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Awarded (in shares)		0
Awarded (dollars per share) | $ / shares		$ 0
Outstanding RSAs expect to vest (in shares)		10,312	20,624
Weighted average fair value (dollars per share) | $ / shares		$ 3.45	$ 3.45
Aggregate fair value | $		$ 100,000
Restricted Stock | Officers and Non-Employee Directors
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]
Unrecognized compensation cost, including impact of estimated forfeitures | $		$ 100,000
Weighted average period of when compensation expense is expected to be recognized		1 month 6 days