Stock-Based Compensation - Summary of Option Activity (Details) - 2006 Plan and 2016 Plan - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2022	Dec. 31, 2021
Number of Shares
Beginning balance (in shares)	3,721,148
Granted (in shares)	646,200
Ending balance (in shares)	4,367,348	3,721,148
Exercisable at end of period (in shares)	2,852,580
Vested and expected to vest at end of period (in shares)	4,080,448
Weighted Average Exercise Price at Grant Date
Beginning balance (in dollars per share)	$ 14.16
Granted (in dollars per share)	11.36
Ending balance (in dollars per share)	13.75	$ 14.16
Exercisable at end of period (in dollars per share)	13.20
Vested and expected to vest at end of period (in dollars per share)	$ 13.77
Weighted Average Remaining Term (Years)
Outstanding	6 years 2 months 1 day	5 years 9 months 7 days
Exercisable at end of period	4 years 7 months 24 days
Vested and expected to vest at end of period	5 years 11 months 8 days
Aggregate Intrinsic Value
Outstanding	$ 3,029	$ 11,327
Exercisable at end of period	3,004
Vested and expected to vest at end of period	$ 3,027