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Stock-based Compensation - Summary Stock Options Activity (Details) - 2017 Stock Incentive Plan - Stock Options
$ / shares in Units, shares in Thousands, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares, Outstanding, Beginning Balance | shares 5,919  
Number of Shares, Granted | shares 1,516  
Number of Shares, Exercised | shares (130)  
Number of Shares, Forfeited | shares (195)  
Number of Shares, Outstanding, Ending Balance | shares 7,110 5,919
Number of Shares, Options exercisable at June 30, 2022 | shares 5,474  
Number of Shares, Vested or expected to vest at June 30, 2022 | shares 7,001  
Weighted-Average Exercise Price, Outstanding, Beginning Balance | $ / shares $ 8.82  
Weighted-Average Exercise Price, Granted | $ / shares 3.89  
Weighted-Average Exercise Price, Exercised | $ / shares 1.95  
Weighted-Average Exercise Price, Forfeited | $ / shares 7.98  
Weighted-Average Exercise Price, Outstanding, Ending Balance | $ / shares 7.92 $ 8.82
Weighted-Average Exercise Price, Options exercisable at June 30, 2022 | $ / shares 9.04  
Weighted-Average Exercise Price, Vested or expected to vest at June 30, 2022 | $ / shares $ 7.98  
Weighted-Average Remaining Contractual Term, Outstanding 4 years 9 months 18 days 4 years 4 months 9 days
Weighted-Average Remaining Contractual Term, Options exercisable at June 30, 2022 3 years 4 months 6 days  
Weighted-Average Remaining Contractual Term, Vested or expected to vest at June 30, 2022 4 years 8 months 12 days  
Aggregate Intrinsic Value, Outstanding | $ $ 851 $ 4,205
Aggregate Intrinsic Value, Options exercisable at June 30, 2022 | $ 544  
Aggregate Intrinsic Value, Vested or expected to vest at June 30, 2022 | $ $ 834