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Stock-Based Compensation - Summary of All Option Activity Under 2007 Plan, 2014 Plan, 2020 Plan and Inducement Grants (Details) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Shares Issuable Under Options      
Outstanding, beginning balance 4,213,977 3,621,479  
Granted 1,267,700 702,836  
Options Assumed   (174)  
Forfeited / Canceled (263,644) (110,164)  
Outstanding, ending balance 5,218,033 4,213,977 3,621,479
Options vested and expected to vest 5,218,033    
Options exercisable 3,076,338    
Weighted Average Exercise Price      
Outstanding, beginning balance $ 10.33 $ 10.63  
Granted 3.81 10.69  
Options Assumed   4.73  
Forfeited / Canceled 12.12 19.50  
Outstanding, ending balance 8.69 $ 10.33 $ 10.63
Options vested and expected to vest 8.69    
Options exercisable $ 8.72    
Weighted Average Remaining Contractual Term (In years)      
Outstanding, balance 8 years 1 month 6 days 8 years 4 months 24 days 8 years 10 months 24 days
Options vested and expected to vest 8 years 1 month 6 days    
Options exercisable 7 years