Common Stock - Summary of Common Stock Issued and Reserved for Issuance (Details) - shares shares in Thousands	Sep. 30, 2022	Dec. 31, 2021
Stockholders Deficit [Line Items]
Shares of common stock issued	27,060	26,395
Shares of common stock reserved for issuance for:
Total shares of common stock issued and reserved for issuance	34,749	32,929
Common stock warrants
Shares of common stock reserved for issuance for:
Shares of common stock reserved for issuance	75	75
Stock options
Shares of common stock reserved for issuance for:
Shares of common stock reserved for issuance	1,424	1,499
Restricted stock units
Shares of common stock reserved for issuance for:
Shares of common stock reserved for issuance	4,060	2,124
Shares available for grant under stock incentive plan
Shares of common stock reserved for issuance for:
Shares of common stock reserved for issuance	1,067	2,037
Shares available for sale under employee stock purchase plan
Shares of common stock reserved for issuance for:
Shares of common stock reserved for issuance	1,063	799