Stock-Based Compensation - Summary of Employee and Non-Employee Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Shares Issuable Under Options, Outstanding, Beginning balance	5,357,844
Shares Issuable Under Options, Granted	2,757,600
Shares Issuable Under Options, Exercised	(313,095)
Shares Issuable Under Options, Forfeited	(1,194,762)
Shares Issuable Under Options, Outstanding, Ending balance	6,607,587	5,357,844
Shares Issuable Under Options, Options vested and expected to vest	6,291,349
Shares Issuable Under Options, Options exercisable	3,181,979
Weighted Average Exercise Price, Outstanding Beginning balance	$ 7.64
Weighted Average Exercise Price, Granted	7.11
Weighted Average Exercise Price, Exercised	4.63
Weighted Average Exercise Price, Forfeited	7.67
Weighted Average Exercise Price, Outstanding Ending balance	7.56	$ 7.64
Weighted Average Exercise Price, Options vested and expected to vest	7.64
Weighted Average Exercise Price, Options exercisable	$ 7.64
Weighted Average Remaining Contractual Term, Outstanding	7 years 10 months 24 days	7 years 11 months 1 day
Weighted Average Remaining Contractual Term, Options vested and expected to vest	6 years 11 months 26 days
Weighted Average Remaining Contractual Term, Options exercisable	6 years 11 months 26 days
Aggregate Intrinsic Value, Outstanding	$ 328	$ 3,788
Aggregate Intrinsic Value, Options vested and expected to vest	326
Aggregate Intrinsic Value, Options exercisable	$ 231