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, 2022	Dec. 31, 2021
Number of Stock Options Outstanding
Beginning balance (in shares)	7,195,398
Options granted (in shares)	0	0
Options exercised (in shares)	(28,812)
Options cancelled or forfeited (in shares)	(418,006)
Ending balance (in shares)	6,748,580	7,195,398
Options exercisable (in shares)	6,480,492
Options vested and expected to vest (in shares)	6,769,006
Weighted- Average Exercise Price
Beginning balance (in dollars per share)	$ 6.97
Options granted (in dollars per share)	0
Options exercised (in dollars per share)	2.76
Options cancelled or forfeited (in dollars per share)	7.75
Ending balance (in dollars per share)	6.95	$ 6.97
Options exercisable (in dollars per share)	7.11
Options vested and expected to vest (in dollars per share)	$ 6.97
Weighted- Average Remaining Contractual Life (Years)
Options Outstanding (in years)	5 years	6 years 1 month 6 days
Options exercisable (in years)	4 years 10 months 24 days
Options vested and expected to vest (in years)	5 years
Aggregate Intrinsic Value
Options outstanding	$ 3,307	$ 5,203
Options exercisable	2,745
Options vested and expected to vest	$ 3,256