Stock-Based Compensation - Summary of Stock Option Award Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
Jun. 30, 2022	Dec. 31, 2021
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Number of Stock Options, Outstanding balance	3,026,464
Number of Stock Options, Granted	999,554
Number of Stock Options, Exercised	(73,784)
Number of Stock Options, Forfeited	(386,520)
Number of Stock Options, Expired	(113,360)
Number of Stock Options, Outstanding balance	3,452,354	3,026,464
Number of Stock Options, Options expected to vest	2,212,456
Number of Stock Options, Exercisable	1,239,898
Weighted-Average Exercise Price, Outstanding balance	$ 10.84
Grant dates at weighted average fair value	3.39
Weighted-Average Exercise Price, Exercised	3.22
Weighted-Average Exercise Price, Forfeited	8.90
Weighted-Average Exercise Price, Expired	14.12
Weighted-Average Exercise Price,Outstanding balance	8.95	$ 10.84
Weighted-Average Exercise Price, Options expected to vest	6.92
Weighted-Average Exercise Price, Exercisable	$ 12.59
Weighted-Average Remaining Contractual Term, Outstanding balance	8 years 7 months 13 days	8 years 6 months 3 days
Weighted-Average Remaining Contractual Term, Exercisable	7 years 10 months 24 days
Weighted-Average Remaining Contractual Term, Options expected to vest	9 years 7 days
Aggregate Intrinsic Value, Outstanding	$ 97	$ 6,403
Aggregate Intrinsic Value, Options expected to vest	$ 97

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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