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Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2021
Jan. 31, 2021
Sep. 30, 2020
Mar. 31, 2020
Mar. 31, 2018
Jun. 30, 2013
Feb. 28, 2018
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Nov. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Common stock, shares authorized               300,000,000 300,000,000    
Intrinsic value of options exercised               $ 1,100,000 $ 1,500,000    
Weighted-average estimated fair value of stock options granted               $ 4.88 $ 4.83    
Exercisable, aggregate intrinsic value               $ 0 $ 4,100,000    
Number of shares authorized for issuance     3,200,000                
Settlement of stock based compensation for liability awards               0 13,550    
Compensation cost recognized       $ 200,000              
Stock option awards outstanding               8,666,955 7,475,472    
Stock based compensation expense for liability awards               $ 0 $ 100,000    
Stock-based compensation expense               11,553,000 13,813,000 $ 10,852,000  
2018 Employee Stock Purchase Plan                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Common stock, capital shares reserved for future issuance         536,242            
Option purchase date price percentage lower of closing trading price per share         85.00%            
Employees subscription rate during the offering period         15.00%            
Maximum number of shares may be purchased by an employee         15,000            
Maximum fair market value of shares may be purchased by an employee         $ 25,000            
Non Employee                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Stock-based compensation expense               $ 400,000 300,000    
Common Stock                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Vesting of restricted stock units, (in shares)               962,693      
Maximum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Vesting period, options     4 years                
Minimum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Vesting period, options     3 years                
Performance and Market Contingent Stock Options                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Compensation cost recognized                 $ 0    
Trailing period 30 days                    
Stock option awards outstanding               50,849 87,521    
Stock option awards, grant date fair value               $ 200,000 $ 300,000    
Modification date fair value $ 102,000 $ 81,000                  
Implied service period for recognition 1 year 10 months 6 days                    
Performance and Market Contingent Stock Options | Executive Team                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Stock option awards exercisable upon the achievement of performance goals 33,370 17,479                  
Performance and Market Contingent Stock Options | Tranche One                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Volume-weighted average per Share closing trading price   $ 18.00                  
Trailing period   30 days                  
Performance and Market Contingent Stock Options | Tranche Two                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Volume-weighted average per Share closing trading price   $ 36.00                  
Trailing period   30 days                  
Performance and Market Contingent Stock Options | Maximum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Implied service period for recognition   2 years 6 months 7 days                  
Performance and Market Contingent Stock Options | Minimum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Implied service period for recognition   1 year 5 months 15 days                  
Attaining valuation of certain amount $ 1,000,000,000                    
Stock Options                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Number of shares authorized for issuance     250,000                
RSUs                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Number of shares authorized for issuance     2,959,850                
Stock Options, RSAs, RSUs and PSUs                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Stock-based compensation cost not yet amortized               $ 23,100,000      
Weighted-average period for recognition               3 years 2 months 12 days      
RSUs and RSAs                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Total grant-date fair value of stock vested               $ 3,100,000 $ 1,200,000    
Stock Options and RSUs                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Vesting rights       The stock options and RSUs will vest subject to continued service through the applicable vesting date              
2018 Incentive Award Plan                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Common stock, capital shares reserved for future issuance         4,289,936            
Vesting period, options         4 years            
Common stock, shares authorized               13,271,831      
2018 Incentive Award Plan | Maximum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Expiration period from the date of grant, options         10 years            
2018 Incentive Award Plan | Minimum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Exercise price as a percentage of estimated fair value of the shares on the date of grant         100.00%            
2020 Employment Inducement Incentive Plan                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Common stock, capital shares reserved for future issuance       1,100,000             1,500,000
Vesting period, options       4 years              
Common stock, shares authorized               2,530,000      
Number of shares authorized for issuance       1,100,000              
Incremental fair value on modification date       $ 31,000       $ 31,000      
Unamortized value of original grant       $ 569,000       $ 569,000      
2020 Employment Inducement Incentive Plan | Common Stock                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Number of shares authorized for issuance       30,000              
Vesting of restricted stock units, (in shares)       30,000              
2020 Employment Inducement Incentive Plan | Maximum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Expiration period from the date of grant, options       10 years              
2020 Employment Inducement Incentive Plan | Minimum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Exercise price as a percentage of estimated fair value of the shares on the date of grant       100.00%              
2020 Employment Inducement Incentive Plan | PSUs                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Number of shares authorized for issuance       150,000              
Weighted-average period for recognition       4 years 3 months 18 days              
Grant date fair value       $ 700,000              
2020 Employment Inducement Incentive Plan | PSUs | Tranche One                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Number of shares authorized for issuance   50,000   50,000              
Volume-weighted average per Share closing trading price   $ 18   $ 36.875              
Trailing period   30 days   30 days              
2020 Employment Inducement Incentive Plan | PSUs | Tranche Two                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Number of shares authorized for issuance   100,000   100,000              
Trailing period   30 days   30 days              
Price per share to holders of company's common stock   $ 36.00   $ 36.875              
Market capitalization trigger       $ 2,500,000,000              
2020 Employment Inducement Incentive Plan | PSUs | Maximum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
New implied service period for recognition       2 years 9 months 14 days              
2020 Employment Inducement Incentive Plan | PSUs | Minimum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
New implied service period for recognition       1 year 7 months 17 days              
2020 Employment Inducement Incentive Plan | Stock Options                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Number of shares authorized for issuance       800,000              
2020 Employment Inducement Incentive Plan | RSUs                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Number of shares authorized for issuance       120,000              
2013 Equity Incentive Plan                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Vesting period, options           4 years          
Exercise price             $ 3.42        
Exercise price range, lower range limit             3.95        
Exercise price range, upper range limit             $ 8.47        
2013 Equity Incentive Plan | Maximum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Expiration period from the date of grant, options           10 years          
2013 Equity Incentive Plan | Minimum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Exercise price as a percentage of estimated fair value of the shares on the date of grant           100.00%          
Exercise price as a percentage of estimated grant date fair value of shares for a 10% shareholder           110.00%