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Stockholders' Equity - Schedule of Stock Option Activity (Details) - Common stock options - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Stock Options      
Beginning balance (in shares) 4,407,498 3,977,401  
Granted (in shares) 357,125 1,322,119  
Stock options exercised 99,435 0  
Cancelled/forfeited (in shares) (742,902) (892,022)  
Ending balance (in shares) 3,922,286 4,407,498 3,977,401
Stock Options, Exercisable (in shares) 2,316,637    
Weighted Average Exercise Price      
Beginning balance (in dollars per share) $ 12.20 $ 14.07  
Granted (in dollars per share) 9.18 8.89  
Exercised (in dollars per share) 9.81  
Cancelled/forfeited (in dollars per share) 16.21 15.62  
Ending balance (in dollars per share) 11.23 $ 12.20 $ 14.07
Weighted Average Exercise Price, Exercisable (in dollars per share) $ 11.44    
Weighted Average Remaining Contractual Term (Years)      
Outstanding 7 years 1 month 6 days 7 years 7 months 28 days 8 years 6 months 3 days
Weighted Average Remaining Contractual Term , Exercisable (Years) 6 years 8 months 1 day    
Aggregate Intrinsic Value      
Beginning balance $ 50 $ 7,198  
Ending balance 455 $ 50 $ 7,198
Aggregate Intrinsic Value, Exercisable $ 98    
Vested and expected to vest      
Outstanding (in shares) 3,922,286    
Weighted average exercise price (in dollars per share) $ 11.23    
Average remaining contractual term (Years) 7 years 1 month 6 days    
Aggregate intrinsic value $ 455