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Stock Based Compensation - Narrative (Details)
12 Months Ended
Mar. 01, 2022
Sep. 24, 2021
employee
shares
Aug. 02, 2021
Sep. 21, 2020
shares
Aug. 19, 2020
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Weighted-average grant date fair value of stock options granted (in dollars per share) | $ / shares           $ 3.50 $ 2.20
Aggregate intrinsic value, options exercised | $           $ 3,744,000 $ 857,000
Unrecognized compensation expense for options | $           $ 27,905,000  
Unrecognized compensation expense for options, period of recognition           2 years 2 months 12 days  
Stock options granted previously subject to performance-based vesting (in shares)   9,250,000       13,262,016  
Number of common stock shares into which each warrant converts (in shares)           1  
Minimum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting period           3 years  
Maximum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting period           4 years  
ESPP              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares initially reserve for future issuance (in shares)         1,000,000    
Number of additional shares that can be added to the plan for future issuance (in shares)         1,600,000    
Maximum percentage of outstanding shares         1.00%    
Number of shares available for grant (in shares)           1,825,750  
Offering period     7 months        
Maximum common stock purchase allowable as a percentage of compensation         15.00%    
Purchase price of common stock as a percentage of closing price         85.00%    
ESPP | Forecast              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Consecutive offering period 6 months            
ESPP | Minimum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Purchase price of common stock as a percentage of closing price         85.00%    
Stock options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Expiration period           10 years  
Number of employees affected by modification | employee   25          
Incremental costs related to the modification | $           $ 4,872,000  
Expected dividend yield           0.00% 0.00%
Stock options | Minimum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting period           3 years  
Stock options | Maximum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting period           4 years  
RSUs              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Aggregate intrinsic value | $           $ 125,000 $ 125,000
Warrants              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Aggregate intrinsic value | $           $ 6,559,000  
Expected dividend yield           0.00%  
Outstanding vested awards (in shares)           5,821,137  
Weighted average exercise price (in dollars per share) | $ / shares           $ 1.56  
Weighted average remaining contractual term           4 years  
Unrecognized compensation expense | $           $ 0  
Warrants | Consultants              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Outstanding vested awards (in shares)           559,787  
Warrants | Investor              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Outstanding vested awards (in shares)           5,261,350  
2020 Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares initially reserve for future issuance (in shares)       8,000,000      
Number of shares that can be added to the plan (in shares)       5,000,000      
Number of additional shares that can be added to the plan for future issuance (in shares)       6,400,000      
Maximum percentage of outstanding shares       4.00%      
Number of shares available for grant (in shares)           2,293,700