Net Loss Per Share - Schedule of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Numerator:
Net loss	$ (89,945)	$ (76,849)	$ (36,980)
Denominator
Weighted average common shares outstanding	29,718,506	29,176,232	19,031,940
Net loss per share - basic and diluted	$ (3.03)	$ (2.63)	$ (1.94)