Restatement and Summary of Significant Accounting Policies - Balance Sheet (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021	Mar. 31, 2021	Dec. 31, 2020
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Deferred revenue	$ 14,223	$ 9,789
Deferred revenue, net of current portion	2,024	1,926
Total liabilities	24,088	20,551
Accumulated deficit	(205,308)	(193,397)
Total stockholders’ equity	23,257	$ 34,316	$ 67,551	$ 74,492
As Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Deferred revenue	10,060
Deferred revenue, net of current portion	1,288
Total liabilities	19,189
Accumulated deficit	(200,409)
Total stockholders’ equity	28,156
Adjustment
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Deferred revenue	4,163
Deferred revenue, net of current portion	736
Total liabilities	4,899
Accumulated deficit	(4,899)
Total stockholders’ equity	$ (4,899)