Stock-Based Compensation - Summary of Stock Option Grants (Details)	12 Months Ended
	Dec. 31, 2021 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Granted Stock Options Outstanding (in shares) | shares	9,505,461
Weighted- Average Remaining Contractual Life (in years)	5 years 10 months 9 days
Weighted-Average Exercise Price (in dollars per share)	$ 6.42
Granted Stock Options Exercisable (in shares) | shares	6,371,266
Weighted-Average Exercise Price (in dollars per share)	$ 8.04
$1.29 - 4.96
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, range lower limit (in dollars per share)	1.29
Exercise price, range upper limit (in dollars per share)	$ 4.96
Granted Stock Options Outstanding (in shares) | shares	4,397,491
Weighted- Average Remaining Contractual Life (in years)	7 years 7 months 6 days
Weighted-Average Exercise Price (in dollars per share)	$ 2.52
Granted Stock Options Exercisable (in shares) | shares	1,507,886
Weighted-Average Exercise Price (in dollars per share)	$ 2.58
$4.97 - 6.91
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, range lower limit (in dollars per share)	4.97
Exercise price, range upper limit (in dollars per share)	$ 6.91
Granted Stock Options Outstanding (in shares) | shares	1,854,119
Weighted- Average Remaining Contractual Life (in years)	4 years 3 months 29 days
Weighted-Average Exercise Price (in dollars per share)	$ 6.00
Granted Stock Options Exercisable (in shares) | shares	1,854,119
Weighted-Average Exercise Price (in dollars per share)	$ 6.00
$6.92 - 9.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, range lower limit (in dollars per share)	6.92
Exercise price, range upper limit (in dollars per share)	$ 9.00
Granted Stock Options Outstanding (in shares) | shares	1,376,034
Weighted- Average Remaining Contractual Life (in years)	3 years 4 months 28 days
Weighted-Average Exercise Price (in dollars per share)	$ 7.80
Granted Stock Options Exercisable (in shares) | shares	1,300,617
Weighted-Average Exercise Price (in dollars per share)	$ 7.77
$9.01 - 12.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, range lower limit (in dollars per share)	9.01
Exercise price, range upper limit (in dollars per share)	$ 12.00
Granted Stock Options Outstanding (in shares) | shares	925,709
Weighted- Average Remaining Contractual Life (in years)	4 years 2 months 1 day
Weighted-Average Exercise Price (in dollars per share)	$ 11.17
Granted Stock Options Exercisable (in shares) | shares	769,707
Weighted-Average Exercise Price (in dollars per share)	$ 11.17
$12.01 - 22.64
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, range lower limit (in dollars per share)	12.01
Exercise price, range upper limit (in dollars per share)	$ 22.64
Granted Stock Options Outstanding (in shares) | shares	952,108
Weighted- Average Remaining Contractual Life (in years)	5 years 11 months 26 days
Weighted-Average Exercise Price (in dollars per share)	$ 18.61
Granted Stock Options Exercisable (in shares) | shares	938,937
Weighted-Average Exercise Price (in dollars per share)	$ 18.63