Stock-Based Compensation - Summary of Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Number of Units Outstanding, Beginning Balance	7,737,095
Number of Units, Granted	3,953,160
Number of Units, Exercised	(789,225)
Number of Units, Forfeited	(2,243,260)
Number of Units, Expired	(67,359)
Number of Units Outstanding, Ending Balance	8,590,411	7,737,095
Number of Units, Exercisable	2,538,244
Number of Units, Nonvested	6,052,167
Number of Units Outstanding, Weighted Average Exercise Price per Unit, Beginning Balance	$ 4.22
Number of Units, Granted, Weighted Average Exercise Price per Unit	7.31
Number of Units, Exercised, Weighted Average Exercise Price per Unit	1.83
Number of Units, Forfeited, Weighted Average Exercise Price per Unit	5.70
Number of Units, Expired, Weighted Average Exercise Price per Unit	5.18
Number of Units Outstanding, Weighted Average Exercise Price per Unit, Ending Balance	5.48	$ 4.22
Number of Units, Exercisable, Weighted Average Exercise Price per Unit	4.78
Number of Units, Nonvested, Weighted Average Exercise Price per Unit	$ 5.77
Number of Units Outstanding, Weighted Average Remaining Contractual Term (in years)	8 years 9 months 18 days	9 years 3 months 18 days
Number of Units, Exercisable, Weighted Average Remaining Contractual Term (in years)	8 years 7 months 6 days
Number of Units, Nonvested, Weighted Average Remaining Contractual Term (in years)	9 years
Number of Units Outstanding, Aggregate Intrinsic Value	$ 6,196	$ 16,374
Number of Units, Exercisable, Aggregate Intrinsic Value	2,634
Number of Units, Nonvested, Aggregate Intrinsic Value	$ 3,590