Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021
Numerator:
Net loss	$ (19,952)	$ (20,532)	$ (18,789)	$ (21,146)	$ (18,161)	$ (28,754)	$ (59,273)	$ (68,061)
Denominator:
Weighted average common shares outstanding, basic	66,675,337			61,219,321			64,718,008	55,215,037
Weighted average common shares outstanding, diluted	66,675,337			61,219,321			64,718,008	55,215,037
Net loss per share, basic	$ (0.30)			$ (0.35)			$ (0.92)	$ (1.23)
Net loss per share, diluted	$ (0.30)			$ (0.35)			$ (0.92)	$ (1.23)