Stock-Based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
Sep. 30, 2022	Sep. 30, 2021	Dec. 31, 2021
Shares
Shares, Outstanding, Beginning Balance (in shares)	8,373,921
Shares, Granted (in shares)	2,730,597
Shares, Exercised (in shares)	(82,963)
Shares, Forfeited or expired (in shares)	(427,074)
Share-based Compensation Arrangement by Share-based Payment Award, Options, Expirations in Period	(267,238)
Shares, Outstanding, Ending Balance (in shares)	10,327,243		8,373,921
Shares, Exercisable (in shares)	6,455,853
Shares, Vested and expected to vest (in shares)	9,622,594
Weighted- Average Exercise Price
Weighted- Average Exercise Price, Outstanding, Beginning Balance (in dollars per share)	$ 21.47
Weighted- Average Exercise Price, Granted (in dollars per share)	9.40
Weighted- Average Exercise Price, Exercised (in dollars per share)	1.46
Weighted- Average Exercise Price, Forfeited (in dollars per share)	16.05
Weighted- Average Exercise Price, Expired (in dollars per share)	22.76
Weighted- Average Exercise Price, Outstanding, Ending Balance (in dollars per share)	18.63		$ 21.47
Weighted- Average Exercise Price, Exercisable (in dollars per share)	21.77
Weighted- Average Exercise Price, Vested and expected to vest (in dollars per share)	$ 18.96
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted- Average Remaining Contractual Term, Outstanding (in years)	6 years 8 months 12 days		6 years 7 months 6 days
Weighted- Average Remaining Contractual Term, Exercisable (in years)	5 years 6 months
Weighted- Average Remaining Contractual Term, Vested and expected to vest (in years)	6 years 7 months 6 days
Aggregate Intrinsic Value, Outstanding, Ending Balance	$ 124
Aggregate Intrinsic Value, Exercisable	96
Aggregate Intrinsic Value, Vested and expected to vest	$ 120
Weighted-average grant-date fair value of options granted (in dollars per share)	$ 6.89	$ 15.21
Intrinsic value of options exercised	$ 500	$ 3,200
Cash received for options exercised	300	5,400
Fair value of shares vested	15,100	$ 14,800
Unrecognized compensation expense related to non-vested stock-options, net of related forfeiture estimates	$ 28,600
Unrecognized compensation expense recognition period (in years)	1 year 4 months 24 days

Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

Name:	us-gaap_EmployeeServiceShareBasedCompensationNonvestedAwardsTotalCompensationCostNotYetRecognized
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant

- Definition

Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.