Stock-Based Compensation - Summary of Activity under Stock Option Plans and Related Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Share-based Payment Arrangement [Abstract]
Number of options outstanding, Outstanding, Beginning balance	4,489,122
Number of options outstanding, Options granted	3,574,500
Number of options outstanding, Options exercised	(439,081)
Number of options outstanding, Options cancelled/forfeited	(679,357)
Number of options outstanding, Outstanding, Ending balance	6,945,184	4,489,122
Number of options outstanding, options vested and exercisable	3,369,559
Weighted average exercise price, Outstanding, Beginning balance	$ 6.14
Weighted average exercise price, Options granted	5.81
Weighted average exercise price, Options exercised	3.59
Weighted average exercise price, Options cancelled/forfeited	7.97
Weighted average exercise price, Outstanding, Ending balance	5.95	$ 6.14
Weighted average exercise price, options vested and exercisable	$ 5.79
Weighted average remaining contractual term, (Years) Outstanding, Beginning balance	7 years 10 months 24 days	7 years 9 months 18 days
Weighted average remaining contractual term, (Years) options vested and exercisable	6 years 9 months 18 days
Aggregate intrinsic value, Outstanding, Beginning balance	$ 7,134
Aggregate intrinsic value, Options exercised	2,107	$ 200
Aggregate intrinsic value, Outstanding, Ending balance	77,363	$ 7,134
Aggregate intrinsic value, options vested and exercisable	$ 38,713