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Stockholders' Equity - Schedule of Stock Option Activity (Details) - Common stock options
 12 Months Ended
Dec. 31, 2021
$ / shares
shares
Number of Options  
Balance at the beginning of the period (in shares) | shares 6,507,000
Granted (in shares) | shares 1,551,000
Exercised (in shares) | shares (1,511,000)
Forfeited (in shares) | shares (182,000)
Balance at the end of the period (in shares) | shares 6,365,000
Vested and expected to vest (in shares) | shares 6,365,000
Exercisable (in shares) | shares 3,082,000
Exercise Price  
Balance at the beginning of the period (in dollars per share) | $ / shares $ 3.94
Granted (in dollars per share) | $ / shares 8.82
Exercised (in dollars per share) | $ / shares 2.77
Forfeited (in dollars per share) | $ / shares 6.00
Balance at the end of the period (in dollars per share) | $ / shares 5.34
Vested and expected to vest (in dollars per share) | $ / shares 5.34
Exercisable (in dollars per share) | $ / shares $ 4.15