Net Loss per Share - Summary of Basic and Diluted Net loss per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Earnings Per Share [Abstract]
Net loss	$ (88,696)	$ (62,131)	$ (52,807)
Accruing dividends on Series A convertible preferred stock	0	0	592
Deemed dividend as a result of Class B Warrant price reset	13,943	0	0
Net loss attributable to common stockholders	$ (102,639)	$ (62,131)	$ (53,399)
Weighted average shares of common stock outstanding - basic and diluted (in shares)	25,749	20,077	11,530
Net loss per share attributable to common stockholders - basic and diluted (in dollars per share)	$ (3.99)	$ (3.09)	$ (4.63)