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Stock-Based Compensation and Stockholders' Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Stock options granted during period (in shares)     134,719 239,275  
Stock-based compensation expense $ 3,810 $ 1,921 $ 5,738 $ 3,892  
Warrants outstanding (in shares) 9,432,064   9,432,064   9,432,064
Number of shares of common stock to be issued for upon exercise of warrants (in shares) 5,240,035   5,240,035   5,240,035
Warrant, exercise price (in dollars per share) $ 24.39   $ 24.39   $ 24.39
Number of warrants exercised during period (in shares) 0 1,011,224 0 1,011,424  
Minimum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Weighted average exercise price of options exercised during period (in dollars per share)     $ 3.68 $ 3.68  
Maximum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Weighted average exercise price of options exercised during period (in dollars per share)     $ 13.82 $ 13.82  
RSUs          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unrecognized stock based compensation expense $ 12,800   $ 12,800    
Share-based payment arrangement, period for recognition     2 years 5 months 1 day    
Equity instruments other than options, nonvested (in shares) 525,735   525,735    
Weighted average fair value (in dollars per share) $ 25.93   $ 25.93    
Stock-based compensation expense $ 792 $ 0 $ 792 $ 0  
PSUs          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unrecognized stock based compensation expense $ 11,900   $ 11,900    
Share-based payment arrangement, period for recognition     2 years 6 months 3 days    
Equity instruments other than options, nonvested (in shares) 473,371   473,371    
Weighted average fair value (in dollars per share) $ 26.76   $ 26.76    
ESPP          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Stock-based compensation expense $ 758 $ 364 $ 1,133 $ 651  
ESPP shares issued during period (in shares) 155,486     149,865