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Stock Option Plan and Stock-based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2022
Number of Stock Option Awards  
Outstanding beginning balance (in shares) 8,550,076
Granted (in shares) 4,037,863
Exercised (in shares) (211,309)
Forfeited (in shares) (725,836)
Outstanding ending balance (in shares) 11,650,794
Options vested and expected to vest (in shares) 11,650,794
Vested and exercisable (in shares) 3,279,223
Weighted Average Exercise Price  
Outstanding beginning balance (in dollars per share) $ 4.66
Granted (in dollars per share) 3.81
Exercised (in dollars per share) 0.89
Forfeited (in dollars per share) 8.11
Outstanding ending balance (in dollars per share) 4.21
Options vested and expected to vest (in dollars per share) 4.21
Vested and exercisable (in dollars per share) $ 3.59
Options outstanding, weighted average remaining contractual life 8 years 9 months 18 days
Vested and exercisable, weighted average remaining contractual life 7 years 8 months 12 days
Options outstanding, aggregate intrinsic value $ 7,964
Vested and exercisable, aggregate intrinsic value $ 4,474