Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
Dec. 31, 2021	Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Number of Shares Underlying Outstanding Options, Beginning balance	5,514
Number of Shares Underlying Outstanding Options, Granted	1,499
Number of Shares Underlying Outstanding Options, Exercised	(525)
Number of Shares Underlying Outstanding Options, Canceled or forfeited	(646)
Number of Shares Underlying Outstanding Options, Ending balance	5,842	5,514
Number of Shares Underlying Outstanding Options, Options exercisable	2,459
Number of Shares Underlying Outstanding Options, Vested and expected to vest	5,842
Options Outstanding, Weighted-Average Exercise Price, Beginning balance	$ 13.24
Options Outstanding, Weighted-Average Exercise Price, Granted	15.22
Options Outstanding, Weighted-Average Exercise Price, Exercised	4.61
Options Outstanding, Weighted-Average Exercise Price, Canceled or forfeited	29.55
Options Outstanding, Weighted-Average Exercise Price, Ending balance	12.73	$ 13.24
Options Outstanding, Weighted-Average Exercise Price, Options exercisable	14.83
Options Outstanding, Weighted-Average Exercise Price, Options vested and expected to vest	$ 12.73
Options Outstanding, Weighted Average Remaining Contractual Term, Balance	6 years 10 months 2 days
Options Outstanding, Weighted Average Remaining Contractual Term, Options exercisable	4 years 8 months 26 days
Options Outstanding, Weighted Average Remaining Contractual Term, Options vested and expected to vest	7 years
Options Outstanding, Aggregate Intrinsic Value, Balance	$ 38,433
Options Outstanding, Aggregate Intrinsic Value, Options Exercised	5,400	$ 800
Options Outstanding, Aggregate Intrinsic Value, Balance		$ 38,433
Options Outstanding, Aggregate Intrinsic Value, Options exercisable-December 31, 2021	17,255
Options Outstanding, Aggregate Intrinsic Value, Options vested and expected to vest-December 31, 2021	$ 34,928

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

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