Restatement and Summary of Significant Accounting Policies - Balance Sheet (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2021	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2020
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Deferred revenue	$ 2,546		$ 9,789
Deferred revenue, net of current portion	13,176		1,926
Total liabilities	23,786		20,551
Accumulated deficit	(219,674)		(193,397)
Stockholders' equity	106,249	$ 23,257	$ 34,316	$ 57,499	$ 67,551	$ 74,492
As Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Deferred revenue	1,811
Deferred revenue, net of current portion	9,130
Total liabilities	19,005
Accumulated deficit	(214,893)
Stockholders' equity	111,030
Adjustments
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Deferred revenue	735
Deferred revenue, net of current portion	4,046
Total liabilities	4,781
Accumulated deficit	(4,781)
Stockholders' equity	$ (4,781)