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Fair Value Measurements - Financial Assets and Liabilities Measured on a Recurring Basis (Details) - Recurring - USD ($) $ in Thousands | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | ---
Assets: |  |
Assets, fair value | $ 115,436 | $ 187,817
Liabilities: |  |
Liabilities, fair value | 698 | 1,376
Money market funds |  |
Assets: |  |
Assets, fair value | 71,175 | 88,151
Commercial paper |  |
Assets: |  |
Assets, fair value | 31,935 | 62,729
Corporate bonds |  |
Assets: |  |
Assets, fair value | 7,022 | 26,658
Asset-backed securities |  |
Assets: |  |
Assets, fair value | 5,304 |
U.S. government-sponsored agency bonds |  |
Assets: |  |
Assets, fair value |  | 9,279
U.S. treasury notes |  |
Assets: |  |
Assets, fair value |  | 1,000
Derivative liability for exit fee |  |
Liabilities: |  |
Liabilities, fair value | 698 | 1,376
Level 1 |  |
Assets: |  |
Assets, fair value | 71,175 | 88,151
Liabilities: |  |
Liabilities, fair value | 0 | 0
Level 1 | Money market funds |  |
Assets: |  |
Assets, fair value | 71,175 | 88,151
Level 1 | Commercial paper |  |
Assets: |  |
Assets, fair value | 0 | 0
Level 1 | Corporate bonds |  |
Assets: |  |
Assets, fair value | 0 | 0
Level 1 | Asset-backed securities |  |
Assets: |  |
Assets, fair value | 0 |
Level 1 | U.S. government-sponsored agency bonds |  |
Assets: |  |
Assets, fair value |  | 0
Level 1 | U.S. treasury notes |  |
Assets: |  |
Assets, fair value |  | 0
Level 1 | Derivative liability for exit fee |  |
Liabilities: |  |
Liabilities, fair value | 0 | 0
Level 2 |  |
Assets: |  |
Assets, fair value | 44,261 | 99,666
Liabilities: |  |
Liabilities, fair value | 0 | 0
Level 2 | Money market funds |  |
Assets: |  |
Assets, fair value | 0 | 0
Level 2 | Commercial paper |  |
Assets: |  |
Assets, fair value | 31,935 | 62,729
Level 2 | Corporate bonds |  |
Assets: |  |
Assets, fair value | 7,022 | 26,658
Level 2 | Asset-backed securities |  |
Assets: |  |
Assets, fair value | 5,304 |
Level 2 | U.S. government-sponsored agency bonds |  |
Assets: |  |
Assets, fair value |  | 9,279
Level 2 | U.S. treasury notes |  |
Assets: |  |
Assets, fair value |  | 1,000
Level 2 | Derivative liability for exit fee |  |
Liabilities: |  |
Liabilities, fair value | 0 | 0
Level 3 |  |
Assets: |  |
Assets, fair value | 0 | 0
Liabilities: |  |
Liabilities, fair value | 698 | 1,376
Level 3 | Money market funds |  |
Assets: |  |
Assets, fair value | 0 | 0
Level 3 | Commercial paper |  |
Assets: |  |
Assets, fair value | 0 | 0
Level 3 | Corporate bonds |  |
Assets: |  |
Assets, fair value | 0 | 0
Level 3 | Asset-backed securities |  |
Assets: |  |
Assets, fair value | 0 |
Level 3 | U.S. government-sponsored agency bonds |  |
Assets: |  |
Assets, fair value |  | 0
Level 3 | U.S. treasury notes |  |
Assets: |  |
Assets, fair value |  | 0
Level 3 | Derivative liability for exit fee |  |
Liabilities: |  |
Liabilities, fair value | $ 698 | $ 1,376

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