Stock-Based Compensation - Exercise Price Range of Options Outstanding and Exercisable (Details) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Options Outstanding
Shares (in shares)	10,401	11,985
Options Exercisable
Shares (in shares)	8,974	11,393
$0.06 – 0.40
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share)	$ 0.06	$ 0.06
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 0.40	$ 0.40
Options Outstanding
Shares (in shares)	2,309	3,454
Weighted Average Remaining Contractual Life (in Years)	5 years 7 months 20 days	7 years 2 months 1 day
Options Exercisable
Shares (in shares)	2,308	3,214
Weighted Average Remaining Contractual Life (in Years)	5 years 7 months 20 days	7 years 2 months 1 day
1.55 – 1.75
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share)	$ 1.55	$ 1.55
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 1.75	$ 1.75
Options Outstanding
Shares (in shares)	2,120	3,564
Weighted Average Remaining Contractual Life (in Years)	7 years 4 months 2 days	8 years 4 months 9 days
Options Exercisable
Shares (in shares)	2,006	3,351
Weighted Average Remaining Contractual Life (in Years)	7 years 4 months 2 days	8 years 4 months 9 days
2.43
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share)	$ 2.43	$ 2.43
Options Outstanding
Shares (in shares)	3,242	3,324
Weighted Average Remaining Contractual Life (in Years)	8 years 5 months 1 day	9 years 4 months 9 days
Options Exercisable
Shares (in shares)	3,241	3,320
Weighted Average Remaining Contractual Life (in Years)	8 years 5 months 1 day	9 years 4 months 9 days
8.13 – 9.41
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share)	$ 8.13
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 9.41
Options Outstanding
Shares (in shares)	1,756
Weighted Average Remaining Contractual Life (in Years)	8 years 9 months 25 days
Options Exercisable
Shares (in shares)	1,291
Weighted Average Remaining Contractual Life (in Years)	8 years 6 months 14 days
8.90 – 9.41
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share)		$ 8.90
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)		$ 9.41
Options Outstanding
Shares (in shares)		1,643
Weighted Average Remaining Contractual Life (in Years)		9 years 11 months 19 days
Options Exercisable
Shares (in shares)		1,508
Weighted Average Remaining Contractual Life (in Years)		9 years 11 months 23 days
12.21 – 15.17
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share)	$ 12.21
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 15.17
Options Outstanding
Shares (in shares)	974
Weighted Average Remaining Contractual Life (in Years)	9 years 3 months 10 days
Options Exercisable
Shares (in shares)	128
Weighted Average Remaining Contractual Life (in Years)	9 years 7 days