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Stock-Based Compensation - Summary of Weighted-Average Assumptions Used in Calculating Fair Value of Awards (Details)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]      
Dividend yield 0.00% 0.00% 0.00%
2018 Plan, 2016 Plan and 2015 Plan      
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]      
Expected term (in years) 5 years 11 months 26 days 6 years 1 month 6 days 6 years 3 days
Expected volatility 83.00% 76.00% 80.00%
Risk-free interest 0.88% 1.06% 2.32%
Dividend yield 0.00% 0.00% 0.00%
2016 Employee Stock Purchase Plan      
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]      
Expected term (in years) 6 months 6 months 6 months
Expected volatility 86.00% 76.00% 70.00%
Risk-free interest 0.08% 0.75% 2.11%
Dividend yield 0.00% 0.00% 0.00%