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Share-Based Compensation - Additional Information (Details) - USD ($) $ in Thousands |  | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | ---
Mar. 12, 2019 | Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021 | Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Options outstanding |  | 13,809,403 |  | 13,809,403 |  | 9,920,314
Share based compensation expense |  | $ 5,133 | $ 4,551 | $ 14,661 | $ 12,079 |
Intrinsic value of Stock options exercised |  |  |  | 700 | 14,900 |
Unrecognized compensation cost |  | $ 34,700 |  | $ 34,700 |  |
Weighted-average period for recognition of compensation cost |  |  |  | 2 years 6 months |  |
Restricted Stock Units |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
RSU outstanding |  | 2,159,914 |  | 2,159,914 |  | 773,503
Share Based Compensation Arrangement By Share Based Payment Award Options Grants In Period Gross |  |  |  | 1,826,307 |  |
Share Based Compensation Arrangement By Share Based Payment Award Options Grant Date Fair Value |  |  |  | $ 6,600 |  |
ESPP |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Share based compensation expense |  |  |  | $ 100 | $ 300 |
2006 and 2015 Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Options outstanding |  | 1,986,843 |  | 1,986,843 |  |
Remaining shares available to be granted |  | 0 |  | 0 |  |
2019 Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Options outstanding |  | 9,070,937 |  | 9,070,937 |  |
Number of shares available for issuance | 4,750,000 | 6,589,999 |  | 6,589,999 |  |
Number of shares available to be issued |  | 1,435,635 |  | 1,435,635 |  |
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock | 4.00% |  |  |  |  |
2019 Plan | Restricted Stock Units |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
RSU outstanding |  | 1,936,252 |  | 1,936,252 |  |
2019 ESPP |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Remaining shares available to be granted |  | 1,724,712 |  | 1,724,712 |  |
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock | 1.00% |  |  |  |  |
Increase in common stock available for issuance |  | 1,647,499 |  | 1,647,499 |  |
Purchase of common stock through payroll deductions expressed in percentage of fair market value | 85.00% |  |  |  |  |
Total number of shares issued under 2019 ESPP |  | 447,787 |  | 447,787 |  |
2019 ESPP | Maximum |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Remaining shares available to be granted | 525,000 |  |  |  |  |
Inducement Award Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Options outstanding |  | 2,751,623 |  | 2,751,623 |  |
Number of shares available for issuance |  | 6,024,715 |  | 6,024,715 |  |
Inducement Award Plan | Maximum |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Maximum shares allowed to be issued under the plan |  | 9,000,000 |  | 9,000,000 |  |
Inducement Award Plan | Restricted Stock Units |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
RSU outstanding |  | 223,662 |  | 223,662 |  |

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