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Stock Benefit Plans and Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 12 Months Ended
Jun. 16, 2021
Apr. 05, 2020
Jul. 31, 2019
Sep. 30, 2016
Dec. 31, 2021
Dec. 31, 2020
Jun. 17, 2020
Apr. 08, 2020
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock reserved for future issuance         54,895,000        
Stock compensation charge           $ 900,000      
Stock-based compensation         $ 36,450,000 $ 17,659,000      
Common Stock                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of warrants available to be granted         205,000        
Maximum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Award vesting period         4 years        
Employee Stock Option                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock reserved for future issuance         3,351,000        
Weighted-average grant-date fair value of stock options granted         $ 9.88 $ 4.71      
Total intrinsic value of stock options exercised         $ 6,800 $ 2,300      
Share price         $ 11.43        
Unrecognized compensation expense for stock options and awards expected to be recognized         $ 1,300,000        
Straight-line basis over a weighted average period           1 year 4 months 24 days      
Unvested Restricted Stock Award                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Restricted shares granted under the plan         3,980,000        
Straight-line basis over a weighted average period         1 year 7 months 28 days        
Weighted average fair value of awards granted         $ 12.79 $ 4.87      
Unrecognized compensation expense for restricted stock awards, restricted stock units and performance-based restricted units expected to be recognized         $ 42,000,000.0        
Total fair value of awards vested         $ 43,900,000 $ 13,100,000      
ESPP                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock reserved for future issuance         547,170        
Number of shares available for grant 500,000,000                
Employee stock purchase plan, maximum annual compensation percentage 20.00%                
Employee stock purchase plan, maximum annual compensation amount $ 21,250                
Purchase price equal to the lower of the fair market value per share (at closing) of Company common stock 85.00%                
Employee stock purchase plan, offering period 6 months                
Shares of common stock purchased under the ESPP         227,245 379,166      
Stock-based compensation         $ 1,100,000 $ 1,000,000.0      
2016 Equity Incentive Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock reserved for future issuance       1,083,333          
Number of shares available for grant         3,329,247   7,000,000    
2016 Equity Incentive Plan | Employee Stock Option                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Expiration period       10 years          
Award vesting period       4 years          
Exercise price minimum percentage of market price on grant date       100.00%          
2016 Equity Incentive Plan | Employee Stock Option | 10 Percent Stockholder                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Expiration period       5 years          
Exercise price minimum percentage of market price on grant date       110.00%          
Salary-to-Equity Conversion Program                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Vesting date   Jul. 10, 2020              
Deferred compensation liability           $ 900,000      
Salary-to-Equity Conversion Program | Minimum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Eligible employee payroll cost for conversion program   $ 100,000              
Employee voluntary election to reduce compensation rate   10.00%              
Salary-to-Equity Conversion Program | Maximum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Employee voluntary election to reduce compensation rate   75.00%              
Inducement Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock reserved for future issuance         535,125        
Maximum award to be deductible other than options         $ 1,000,000.0        
2019 Management Objective Strategic Incentive Plan | Board of Directors Chairman | Common Stock                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Share authorized grant of warrants     500,000            
Maximum grant of shares per participant     50,000            
2019 Management Objective Strategic Incentive Plan | Unvested Restricted Stock Award                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Maximum grant of shares per participant         12,500        
Restricted shares granted under the plan         122,500        
2017 Distributor Inducement Plan | Common Stock                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock issued         146,100        
Number of warrants available to be granted         325,000        
2017 Distributor Inducement Plan | Board of Directors Chairman | Common Stock                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Share authorized grant of warrants                 1,000,000
2017 Distributor Inducement Plan | Restricted Common Stock                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Restricted shares granted under the plan         229,900        
Two Thousand Seventeen Development Services Plan | Board of Directors Chairman | Common Stock                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of shares available for grant         0     7,000,000