Stock-Based Compensation Expense - Summary of Stock Option Activities (Details) $ / shares in Units, $ in Thousands	9 Months Ended
Sep. 30, 2022 USD ($) $ / shares shares
Share-Based Payment Arrangement [Abstract]
Number of Shares, Options Outstanding, Beginning Balance \| shares	3,119,993
Number of Shares, Granted \| shares	297,516
Number of Shares, Forfeited \| shares	(293,635)
Number of Shares, Exercised \| shares	(71,199)
Number of Shares, Expired \| shares	(67,643)
Number of Shares, Options Outstanding, Ending Balance \| shares	2,985,032
Number of Options Vested and exercisable at September 30, 2022 \| shares	1,719,806
Number of Shares, Vested and expected to vest after September 30, 2022 \| shares	2,153,824
Weighted Average Exercise Price Per Share, Options Outstanding, Beginning Balance \| $ / shares	$ 7.59
Weighted Average Exercise Price Per Share, Granted \| $ / shares	1.73
Weighted Average Exercise Price Per Share, Forfeited \| $ / shares	9.42
Weighted Average Exercise Price Per Share, Exercised \| $ / shares	3.54
Weighted Average Exercise Price Per Share, Expired \| $ / shares	6.24
Weighted Average Exercise Price Per Share, Ending Balance \| $ / shares	6.95
Weighted Average Exercise Price Per Share, Options Vested and exercisable, September 30, 2022 \| $ / shares	5.68
Weighted Average Exercise Price Per Share, Vested and expected to vest after September 30, 2022 \| $ / shares	$ 6.39
Weighted- Average Remaining Contractual Life (Years) Outstanding at September 30, 2022	6 years 8 months 12 days
Weighted-Average Remaining Contractual Life (in years) Options Vested and exercisable, September 30, 2022	5 years 1 month 6 days
Weighted-Average Remaining Contractual Life (in years) Vested and expected to vest after September 30, 2022	5 years 8 months 12 days
Aggregate Intrinsic Value, Exercised \| $	$ 142

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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