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Stock Option Plan and Stock-based Compensation - Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2022
USD ($)
$ / shares
shares
Number of Stock Option Awards  
Outstanding beginning balance (in shares) | shares 8,550,076
Granted (in shares) | shares 1,948,998
Exercised (in shares) | shares (153,570)
Forfeited (in shares) | shares (374,257)
Outstanding ending balance (in shares) | shares 9,971,247
Options vested and expected to vest (in shares) | shares 9,971,247
Vested and exercisable (in shares) | shares 2,759,100
Weighted Average Exercise Price  
Outstanding beginning balance (in dollars per share) | $ / shares $ 4.66
Granted (in dollars per share) | $ / shares 3.83
Exercised (in dollars per share) | $ / shares 1.02
Forfeited (in dollars per share) | $ / shares 8.34
Outstanding ending balance (in dollars per share) | $ / shares 4.41
Options vested and expected to vest (in dollars per share) | $ / shares 4.41
Vested and exercisable (in dollars per share) | $ / shares $ 3.01
Options outstanding, weighted average remaining contractual life 8 years 9 months 18 days
Vested and exercisable, weighted average remaining contractual life 7 years 9 months 18 days
Options outstanding, aggregate intrinsic value | $ $ 16,544
Vested and exercisable, aggregate intrinsic value | $ $ 7,569