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Stock-based Compensation - Stock Option Activity (Details)
 12 Months Ended
Dec. 31, 2021
$ / shares
shares
Options [Roll Forward]  
Balance as of December 31, 2020 (in shares) | shares 531,336
Granted (in shares) | shares 680,227
Cancelled/forfeited (in shares) | shares (40,673)
Balance as of December 31, 2021 (in shares) | shares 1,170,890
Vested and expected to vest at December 31, 2021 (in shares) | shares 378,010
Exercisable at December 31, 2021 | shares 1,089,944
Weighted Average Exercise Price [Roll Forward]  
Balance as of December 31, 2020 (in dollars per share) | $ / shares $ 10.01
Granted (in dollars per share) | $ / shares 2.52
Cancelled/forfeited (in dollars per share) | $ / shares 16.69
Balance as of December 31, 2021 (in dollars per share) | $ / shares 5.01
Vested and expected to vest at December 31, 2021 (in dollars per share) | $ / shares 10.37
Exercisable at December 31, 2021 (in dollars per share) | $ / shares $ 5.16
Weighted Average Remaining Contractual Life (years) [Roll Forward]  
Balance as of December 31, 2021 9 years
Vested and expected to vest at December 31, 2021 8 years 8 months 12 days
Exercisable at December 31, 2021 9 years