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Stock-Based Compensation - Stock options & RSU activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 9 Months Ended 12 Months Ended
Jan. 31, 2021
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Options            
Outstanding balance at the beginning of the period (in shares) 6,393,853 6,393,853 4,024,566 6,393,853 4,024,566  
Granted (in shares)       2,482,650 2,662,500  
Exercised (in shares)       (2,292) (32,778)  
Forfeited (in shares)       (348,593) (260,435)  
Outstanding balance at the end of the period (in shares)       8,525,618 6,393,853 4,024,566
Options exercisable at the end of the period (in shares)       5,421,641    
Options vested and expected to vest at end of period (in shares)       8,525,618    
Weighted Average Exercise Price Per Share            
Outstanding balance at the beginning of the period (in dollars per share) $ 5.29 $ 5.29 $ 7.48 $ 5.29 $ 7.48  
Granted (in dollars per share)   $ 1.37 $ 1.33 2.19 2.10  
Exercised (in dollars per share)       1.55 1.53  
Forfeited (in dollars per share)       3.17 6.95  
Outstanding balance at the end of the period (in dollars per share)       4.48 $ 5.29 $ 7.48
Exercisable at the end of the period (in dollars per share)       5.83    
Options vested and expected to vest at end of the period (in dollars per share)       $ 4.48    
Weighted Average Remaining Life in Years            
Outstanding balance       7 years 6 months 29 days 7 years 11 months 15 days 7 years 11 months 23 days
Options exercisable at end of period       6 years 10 months 20 days    
Options vested and expected to vest at end of the period       7 years 6 months 29 days    
Aggregate Intrinsic Value            
Outstanding balance       $ 7,673 $ 1,961 $ 2
Options exercisable at the end of the period       4,074    
Options vested and expected to vest at end of the period       $ 7,673    
Assumptions used to determine grant-date fair value            
Expected Volatility       67.64% 66.94%  
Weighted average risk-free interest rate       0.82% 0.66%  
Expected dividend yield       0.00% 0.00%  
Expected term (in years)       6 years 9 months 25 days 6 years 10 months 6 days  
Expiration period       10 years    
Compensation cost related to the non-vested awards not yet recognized       $ 3,921    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]            
Stock-based compensation expense       3,686 $ 2,776  
Research and development            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]            
Stock-based compensation expense       1,641 1,172  
General and administrative            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]            
Stock-based compensation expense       $ 2,045 $ 1,604  
Weighted average            
Assumptions used to determine grant-date fair value            
Weighted average period for recognition of compensation cost       1 year 11 months 4 days    
Minimum            
Assumptions used to determine grant-date fair value            
Vesting period       3 years    
Maximum            
Assumptions used to determine grant-date fair value            
Vesting period       4 years    
Restricted stock units to purchase common stock            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]            
Settled in cash (92,500)          
Restricted stock units to purchase common stock | Executive Officer [Member]            
Assumptions used to determine grant-date fair value            
Vesting period       3 years    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]            
Awarded       275,000 660,606  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]            
Stock-based compensation expense       $ 530 $ 248  
Restricted stock units to purchase common stock | 2016 Plan            
Assumptions used to determine grant-date fair value            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value       $ 1.76 $ 1.52 $ 1.76
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]            
Outstanding at the beginning 753,106 753,106 90,500 753,106 90,500  
Awarded       275,000 753,106  
Settled in cash       (92,500) (90,500)  
Outstanding at the end       935,606 753,106 90,500
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]            
Outstanding at beginning( in dollars per share) $ 1.52 $ 1.52 $ 1.76 $ 1.52 $ 1.76  
Awarded (in dollars per share)       2.57 1.49  
Settled in cash(in dollars per share)       1.97 1.76  
Outstanding at end(in dollars per share)       $ 1.76 $ 1.52 $ 1.76