Stock-Based Compensation - Schedule Options to Purchase Common Stock (Details) - 2014 Plan, 2019 Plan, and Inducement Grants - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Number of Shares
Options outstanding, beginning balance (in shares)	10,086,167
Granted (in shares)	6,024,830
Exercised (in shares)	(1,540,142)
Forfeited (in shares)	(3,719,568)
Options outstanding, ending balance (in shares)	10,851,287	10,086,167
Options exercisable (in shares)	2,950,927
Weighted Average Exercise Price
Options outstanding, beginning balance (in USD per share)	$ 2.59
Granted (in USD per share)	3.82
Exercised (in USD per share)	0.86
Forfeited (in USD per share)	4.25
Options outstanding, ending balance (in USD per share)	2.95	$ 2.59
Options exercisable (in USD per share)	$ 2.92
Weighted Average Remaining Contractual Life (Years)
Options outstanding (in years)	8 years 3 months 18 days	8 years 9 months 18 days
Options exercisable (in years)	7 years 7 months 6 days
Aggregate Intrinsic Value (In Thousands)
Options outstanding, beginning balance	$ 24,664
Granted in period, intrinsic value	0
Exercises in period, intrinsic value	2,592
Forfeited in period, intrinsic value	483
Options outstanding, ending balance	1,385	$ 24,664
Options exercisable	$ 548