Stock-Based Compensation - Summary of Company's Stock Option Activity and Related Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Number of Stock Options Outstanding
Beginning balance (in shares)	8,142,348
Options granted (in shares)	0
Options exercised (in shares)	(156,199)
Options cancelled or forfeited (in shares)	(790,751)
Ending balance (in shares)	7,195,398	8,142,348
Options exercisable (in shares)	5,958,569
Options vested and expected to vest (in shares)	7,117,391
Weighted- Average Exercise Price
Beginning balance (in dollars per share)	$ 7.14
Options granted (in dollars per share)	0
Options exercised (in dollars per share)	4.97
Options cancelled or forfeited (in dollars per share)	9.05
Ending balance (in dollars per share)	6.98	$ 7.14
Options exercisable (in dollars per share)	7.05
Options vested and expected to vest (in dollars per share)	$ 7.00
Weighted- Average Remaining Contractual Life (Years)
Options Outstanding (in years)	6 years 1 month 6 days	7 years 3 months 18 days
Options exercisable (in years)	5 years 10 months 24 days
Options vested and expected to vest (in years)	6 years 1 month 6 days
Aggregate Intrinsic Value
Options outstanding	$ 5,203	$ 2,638
Options exercisable	3,847
Options vested and expected to vest	$ 5,050