Stock-based Compensation - Schedule of Stock Options Outstanding and Exercisable Option Plans (Details)	12 Months Ended
	Dec. 31, 2021 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	6,550,610
Options exercisable (in shares)	4,449,867
Exercise Price One
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	735,309
Options outstanding, weighted average remaining contractual life (in years)	6 years 8 months 12 days
Options exercisable (in shares)	288,083
Exercise Price Two
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	2,035,383
Options outstanding, weighted average remaining contractual life (in years)	7 years 6 months
Options exercisable (in shares)	959,566
Exercise Price Three
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	1,794,790
Options outstanding, weighted average remaining contractual life (in years)	5 years 3 months 18 days
Options exercisable (in shares)	1,391,071
Exercise Price Four
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	700,678
Options outstanding, weighted average remaining contractual life (in years)	5 years 8 months 12 days
Options exercisable (in shares)	628,032
Exercise price Five
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	753,011
Options outstanding, weighted average remaining contractual life (in years)	6 years 2 months 12 days
Options exercisable (in shares)	682,273
Exercise Price Six
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	531,439
Options outstanding, weighted average remaining contractual life (in years)	6 years 2 months 12 days
Options exercisable (in shares)	500,842
Minimum | Exercise Price One
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 0.20
Minimum | Exercise Price Two
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	10.01
Minimum | Exercise Price Three
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	20.01
Minimum | Exercise Price Four
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	30.01
Minimum | Exercise price Five
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	45.01
Minimum | Exercise Price Six
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	55.01
Maximum | Exercise Price One
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, upper range limit (in dollars per share) | $ / shares	10.00
Maximum | Exercise Price Two
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, upper range limit (in dollars per share) | $ / shares	20.00
Maximum | Exercise Price Three
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, upper range limit (in dollars per share) | $ / shares	30.00
Maximum | Exercise Price Four
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, upper range limit (in dollars per share) | $ / shares	45.00
Maximum | Exercise price Five
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, upper range limit (in dollars per share) | $ / shares	55.00
Maximum | Exercise Price Six
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 73.10