Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Shares
Outstanding at beginning of period (in shares)	3,781,636	3,403,607
Options granted (in shares)	782,430	1,196,281
Options exercised (in shares)	(35,478)	(111,804)
Options forfeited (in shares)	(1,629,767)	(706,448)
Outstanding at end of period (in shares)	2,898,821	3,781,636	3,403,607
Options vested and expected to vest December 31, 2022 (in shares)	2,898,821
Options exercisable as of December 31, 2022 (in shares)	1,744,253
Weighted Average Exercise Price
Outstanding at beginning of period (in dollars per share)	$ 13.12	$ 13.32
Options granted (in dollars per share)	1.48	12.89
Options exercised (in dollars per share)	1.85	6.36
Options forfeited (in dollars per share)	11.14	14.76
Outstanding at end of period (in dollars per share)	6.83	$ 13.12	$ 13.32
Options vested and expected to vest December 31, 2022 (in dollars per share)	6.83
Options vested and exercisable as of December 31, 2021 (in dollars per share)	$ 8.53
Stock Options Activity, Additional Disclosures
Weighted average remaining contractual life, Outstanding	6 years 10 months 24 days	7 years 7 months 6 days	8 years 1 month 6 days
Weighted average remaining contractual life, Options vested and expected to vest December 31, 2022	6 years 10 months 24 days
Weighted average remaining contractual life, Options exercisable December 31, 2022	5 years 9 months 18 days
Aggregate intrinsic value, Outstanding	$ 79	$ 93	$ 52,866
Aggregate intrinsic value, Options exercised		$ 2,799
Aggregate intrinsic value, Options vested and expected to vest December 31, 2022	79
Aggregate intrinsic value, Options exercisable December 31, 2022	$ 0