Stock-based Compensation - Schedule of Stock Options Activity (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021 USD ($) $ / shares shares
NUMBER OF SHARES
Beginning balance (in shares) | shares	8,588,614
Granted (in shares) | shares	1,614,997
Exercised (in shares) | shares	(1,146,095)
Canceled (in shares) | shares	(2,506,906)
Ending balance (in shares) | shares	6,550,610
Options exercisable (in shares) | shares	4,449,867
Options vested and expected (in shares) | shares	6,550,610
WEIGHTED AVERAGE EXERCISE PRICE
Beginning balance (in dollars per share) | $ / shares	$ 27.36
Granted (in dollars per share) | $ / shares	13.92
Exercised (in dollars per share) | $ / shares	3.20
Canceled (in dollars per share) | $ / shares	31.02
Ending balance (in dollars per share) | $ / shares	26.87
Options exercisable (in dollars per share) | $ / shares	31.05
Options vested and expected (in dollars per share) | $ / shares	$ 26.87
WEIGHTED AVERAGE REMAINING CONTRACTUAL LIFE (YEARS)
Options outstanding (in years)	6 years 4 months 24 days
Options exercisable (in years)	5 years 2 months 12 days
Options vested and expected (in years)	6 years 4 months 24 days
AGGREGATE INTRINSIC VALUE
Options outstanding | $	$ 1,116
Options exercisable | $	1,116
Options vested and expected | $	$ 1,116