Stock-based Compensation - Summary of Stock Option Activity with in 2014 Stock Incentive Plan and 2019 Incentive Award Plan (Details) - 2014 and 2019 Plan - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares, Beginning balance	6,830,037
Number of shares, Granted	172,176
Number of shares, Exercised	(9,997)
Number of shares, Forfeited	(924,065)
Number of shares, Ending balance	6,068,151	6,830,037
Number of shares, Options exercisable as of June 30, 2022	4,390,918
Number of shares, Options unvested as of June 30, 2022	1,677,233
Weighted average exercise price, Beginning balance	$ 14.72
Weighted average exercise price, Granted	2.19
Weighted average exercise price, Exercised	1.24
Weighted average exercise price, Forfeited	19.72
Weighted average exercise price, Ending balance	13.63	$ 14.72
Weighted average exercise price, Options exercisable as of June 30, 2022	10.59
Weighted average exercise price, Options unvested as of June 30, 2022	$ 21.58
Weighted average remaining contractual term (in years), Outstanding	6 years 10 months 9 days	7 years 9 months 3 days
Weighted average remaining contractual term (in years), Granted	8 years 10 months 28 days
Weighted average remaining contractual term (in years), Options exercisable as of June 30, 2022	6 years 4 months 20 days
Weighted average remaining contractual term (in years), Options unvested as of June 30, 2022	8 years 25 days
Aggregate intrinsic value, Outstanding as of December 31, 2021	$ 6,987
Aggregate intrinsic value, Exercised	37
Aggregate intrinsic value, Outstanding as of June 30, 2022	789	$ 6,987
Aggregate intrinsic value, Options exercisable as of June 30, 2022	759
Aggregate intrinsic value, Options unvested as of June 30, 2022	$ 30