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Stockholders' Equity - Narrative (Details)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 12 Months Ended
Mar. 26, 2021
USD ($)
Mar. 25, 2021
shares
Feb. 28, 2021
shares
Nov. 21, 2017
shares
Apr. 30, 2021
USD ($)
$ / shares
shares
Mar. 31, 2021
shares
Aug. 31, 2021
USD ($)
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Nov. 21, 2021
shares
Nov. 21, 2020
shares
Class of Stock [Line Items]                      
Preferred stock, shares authorized (in shares)               10,000,000 10,000,000    
Preferred stock, par value (in dollars per share) | $ / shares               $ 0.00001 $ 0.00001    
Preferred stock, shares issued (in shares)               0 0    
Preferred stock, shares outstanding (in shares)               0 0    
Common stock, shares authorized (in shares)               100,000,000 100,000,000    
Common stock, par value (in dollars per share) | $ / shares               $ 0.00001 $ 0.00001    
Common stock, shares, issued (in shares)               55,576,988 33,749,228    
Common stock, shares, outstanding (in shares)               55,576,988 33,749,228    
Issuance of common stock | $               $ 655 $ 0    
Maximum number of shares authorized under the plan (in shares)       4,361,291              
Annual increase percentage of maximum shares outstanding (equal to)       4.00%              
Additional shares reserved for issuance (in shares)                   2,223,080 1,349,969
Shares reserved for issuance (in shares)               3,361,247      
Intrinsic Value | $               $ 200      
Stock-based compensation expense | $               9,576 10,584    
Capitalized share-based compensation expense | $               $ 63 $ 21    
Common Stock                      
Class of Stock [Line Items]                      
Issuance of common stock in connection with litigation settlement (in shares)     6,762,652                
Issuance of common stock (in shares)               643,872 186,563    
Additional Paid In Capital                      
Class of Stock [Line Items]                      
Issuance of common stock | $               $ 655 $ 0    
Daewoong Convertible Note | Convertible Debt | Common Stock                      
Class of Stock [Line Items]                      
Conversion of common shares (in shares)   3,136,869       3,136,869          
A T M Sales Agreement                      
Class of Stock [Line Items]                      
Number of shares issued in transaction (in shares)             934,367        
Aggregate net proceeds from stock offering | $             $ 10,910        
Maximum consideration receivable | $ $ 75                    
Sale of stock, commission payment upon gross proceeds 3.00%                    
Issuance of common stock | $               10,910      
Aggregate net proceeds from stock offering | $               $ 337      
A T M Sales Agreement | Common Stock                      
Class of Stock [Line Items]                      
Issuance of common stock (in shares)               934,367      
A T M Sales Agreement | Additional Paid In Capital                      
Class of Stock [Line Items]                      
Issuance of common stock | $               $ 10,910      
Public Stock Offering                      
Class of Stock [Line Items]                      
Number of shares issued in transaction (in shares)         10,350,000            
Offering price per share (in dollar per share) | $ / shares         $ 9.50            
Aggregate net proceeds from stock offering | $         $ 92,426            
Underwriters Option                      
Class of Stock [Line Items]                      
Number of shares issued in transaction (in shares)         1,350,000            
RSUs                      
Class of Stock [Line Items]                      
Restricted stock units granted (in shares)               1,850,243 1,301,439    
Stock-based compensation expense | $               $ 4,274 $ 2,615    
Weighted average period for unrecognized costs to be recognized               2 years 10 months 13 days      
Total fair value of awards vested | $               $ 5,892 $ 1,980    
Unrecognized costs other than options | $               $ 11,768      
RSUs Performance Conditions                      
Class of Stock [Line Items]                      
Restricted stock units granted (in shares)               0 0    
RSUs Market Conditions                      
Class of Stock [Line Items]                      
Restricted stock units granted (in shares)               0 0    
Common stock options                      
Class of Stock [Line Items]                      
Contractual term of options               10 years      
Weighted average expected term of options               6 years      
Expected dividend yield rate of options               0.00% 0.00%    
Exercised (in shares)               (99,435) 0    
Stock-based compensation expense | $               $ 5,302 $ 7,968    
Unrecognized stock option costs | $               $ 6,358      
Weighted average period for unrecognized costs to be recognized               1 year 8 months 4 days      
Minimum | RSUs                      
Class of Stock [Line Items]                      
Award vesting period               1 year      
Maximum | RSUs                      
Class of Stock [Line Items]                      
Award vesting period               4 years