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Equity Incentive Plans - Stock Options (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2021
USD ($)
$ / shares
shares
Number of Shares  
Options issued and outstanding balance, beginning (shares) 9,790,049
Options granted (shares) 3,409,719
Options exercised (shares) (331,310)
Options canceled (shares) (2,451,306)
Options issued and outstanding balance, ending (shares) 10,417,152
Options vested and expected to vest (shares) 10,417,152
Options exercisable (shares) 6,772,289
Weighted-Average Exercise Price  per Share  
Options issued and outstanding balance, beginning (in dollars per share) | $ / shares $ 6.76
Options granted (in dollars per share) | $ / shares 6.60
Options exercised (in dollars per share) | $ / shares 1.96
Options canceled (in dollars per share) | $ / shares 6.17
Options issued and outstanding balance, ending (in dollars per share) | $ / shares 7.00
Options vested and expected to vest (in dollars per share) | $ / shares 7.00
Options exercisable (in dollars per share) | $ / shares $ 7.39
Weighted Average Remaining Contractual Term  
Options issued and outstanding (in years) 6 years 6 months 25 days
Options vest and expected to vest (in years) 6 years 6 months 25 days
Options exercisable (in years) 5 years 6 months 29 days
Aggregate Intrinsic Value  
Options issued and outstanding | $ $ 0
Options vested and expected to vest | $ 0
Options exercisable | $ $ 0
Stock options  
Shares Available for Grant  
Shares available for grant, beginning (shares) 1,757,058
Shares available for grant, effect of authorized (shares) 4,201,766
Shares available for grant, effect of granted (shares) (3,409,719)
Shares available for grant, effect of canceled (shares) 2,451,306
Shares available for grant, effect of shares issued for services (shares) (25,989)
Shares available for grant, ending (shares) 4,974,422