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Stock Incentive Plans - Summary of Stock Option Activity (Details) - 2017 And 2011 Plans - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Shares, Outstanding, Beginning balance 4,110,691  
Shares, Granted 3,341,350  
Shares, Cancelled (686,204)  
Shares, Outstanding, Ending balance 6,765,837 4,110,691
Shares, Exercisable 3,282,830  
Weighted-Average Exercise Price, Outstanding, Beginning balance $ 3.89  
Weighted-Average Exercise Price, Granted 1.87  
Weighted-Average Exercise Price, Cancelled 4.72  
Weighted-Average Exercise Price, Outstanding, Ending balance 2.81 $ 3.89
Weighted-Average Exercise Price, Exercisable $ 3.52  
Weighted-Average Remaining Contractual Life (in years), Outstanding 7 years 7 months 6 days 7 years 3 months 18 days
Weighted-Average Remaining Contractual Life (in years), Exercisable 6 years 2 months 12 days  
Aggregate Intrinsic Value, Outstanding $ 3 $ 124
Aggregate Intrinsic Value, Exercisable $ 3