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Stockholders' Equity - Summary of Stock Options Outstanding (Details)
12 Months Ended
Dec. 31, 2021
$ / shares
shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Options outstanding (in shares) | shares 10,488,993
Weighted-average remaining contractual life (in Years) 6 years 10 months 24 days
Weighted average exercise price (in USD per share) $ 7.93
Options exercisable (in shares) | shares 6,790,632
Weighted average exercise price (in USD per share) $ 7.22
$1.60-$3.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in USD per share) 1.60
Exercise price, upper range limit (in USD per share) $ 3.00
Options outstanding (in shares) | shares 272,063
Weighted-average remaining contractual life (in Years) 1 year 9 months 18 days
Weighted average exercise price (in USD per share) $ 2.25
Options exercisable (in shares) | shares 262,148
Weighted average exercise price (in USD per share) $ 2.24
$1.60-$3.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in USD per share) 3.01
Exercise price, upper range limit (in USD per share) $ 6.00
Options outstanding (in shares) | shares 2,583,652
Weighted-average remaining contractual life (in Years) 6 years 9 months 18 days
Weighted average exercise price (in USD per share) $ 3.80
Options exercisable (in shares) | shares 2,137,202
Weighted average exercise price (in USD per share) $ 3.88
$6.01-$9.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in USD per share) 6.01
Exercise price, upper range limit (in USD per share) $ 9.00
Options outstanding (in shares) | shares 4,148,238
Weighted-average remaining contractual life (in Years) 6 years 4 months 24 days
Weighted average exercise price (in USD per share) $ 7.60
Options exercisable (in shares) | shares 2,848,150
Weighted average exercise price (in USD per share) $ 7.48
$9.01-$12.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in USD per share) 9.01
Exercise price, upper range limit (in USD per share) $ 12.00
Options outstanding (in shares) | shares 2,562,668
Weighted-average remaining contractual life (in Years) 8 years 9 months 18 days
Weighted average exercise price (in USD per share) $ 10.95
Options exercisable (in shares) | shares 827,259
Weighted average exercise price (in USD per share) $ 10.77
$12.01-$15.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in USD per share) 12.01
Exercise price, upper range limit (in USD per share) $ 15.00
Options outstanding (in shares) | shares 824,184
Weighted-average remaining contractual life (in Years) 5 years 1 month 6 days
Weighted average exercise price (in USD per share) $ 13.54
Options exercisable (in shares) | shares 663,646
Weighted average exercise price (in USD per share) $ 13.40
$15.01-$25.62  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in USD per share) 15.01
Exercise price, upper range limit (in USD per share) $ 25.62
Options outstanding (in shares) | shares 98,188
Weighted-average remaining contractual life (in Years) 8 years 7 months 6 days
Weighted average exercise price (in USD per share) $ 20.64
Options exercisable (in shares) | shares 52,227
Weighted average exercise price (in USD per share) $ 20.67