Stockholders’ Equity - Exercise Price Range of Options Outstanding and Exercisable (Details) shares in Thousands	3 Months Ended
	Mar. 31, 2022 $ / shares shares
Options Outstanding
Shares (in shares)	14,859
Options Exercisable
Shares (in shares)	8,066
Exercise Price Range $0.06 to $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) | $ / shares	$ 0.06
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share) | $ / shares	$ 0.40
Options Outstanding
Shares (in shares)	1,912
Weighted Average Remaining Contractual Life  (in Years)	5 years 11 months 1 day
Options Exercisable
Shares (in shares)	1,912
Weighted Average Remaining Contractual Life  (in Years)	5 years 11 months 1 day
Exercise Price Range $1.55 to $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) | $ / shares	$ 1.55
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share) | $ / shares	$ 1.75
Options Outstanding
Shares (in shares)	1,829
Weighted Average Remaining Contractual Life  (in Years)	7 years 1 month 17 days
Options Exercisable
Shares (in shares)	1,737
Weighted Average Remaining Contractual Life  (in Years)	7 years 1 month 17 days
Exercise Price Range $2.43
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share) | $ / shares	$ 2.43
Options Outstanding
Shares (in shares)	2,946
Weighted Average Remaining Contractual Life  (in Years)	8 years 2 months 4 days
Options Exercisable
Shares (in shares)	2,946
Weighted Average Remaining Contractual Life  (in Years)	8 years 2 months 4 days
Exercise Price Range $5.01
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share) | $ / shares	$ 5.01
Options Outstanding
Shares (in shares)	5,585
Weighted Average Remaining Contractual Life  (in Years)	9 years 10 months 28 days
Options Exercisable
Shares (in shares)	95
Weighted Average Remaining Contractual Life  (in Years)	9 years 10 months 28 days
Exercise Price Range $8.13 to $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) | $ / shares	$ 8.13
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share) | $ / shares	$ 9.41
Options Outstanding
Shares (in shares)	1,634
Weighted Average Remaining Contractual Life  (in Years)	8 years 10 months 17 days
Options Exercisable
Shares (in shares)	1,199
Weighted Average Remaining Contractual Life  (in Years)	8 years 8 months 19 days
Exercise Price Range $12.21 to $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) | $ / shares	$ 12.21
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share) | $ / shares	$ 15.17
Options Outstanding
Shares (in shares)	953
Weighted Average Remaining Contractual Life  (in Years)	8 years 10 months 28 days
Options Exercisable
Shares (in shares)	177
Weighted Average Remaining Contractual Life  (in Years)	8 years 2 months 1 day