Stock-based Compensation - Summary of Nonvested Stock Options (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Shares
Number of shares outstanding (in shares)	2,033,036	1,148,301	1,709,589
Granted (in shares)	262,097	1,449,779	0
Vested (in shares)	(506,299)	(496,464)	(547,537)
Forfeited (in shares)	(377,503)	(68,580)	(13,751)
Number of shares outstanding (in shares)	1,411,331	2,033,036	1,148,301
Weighted Average Grant Date Fair Value
Weighted average grant date fair value, outstanding (in usd per share)	$ 3.49	$ 0.95	$ 0.82
Granted (in usd per share)	6.90	4.49	0
Vested (in usd per share)	1.23	0.08	0.85
Forfeited (in usd per share)	4.08	1.32	0.77
Weighted average grant date fair value, outstanding (in usd per share)	$ 4.77	$ 3.49	$ 0.95