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Stock-Based Compensation - Summary of Share Available for Grant Under the 2019 Plan (Details) - Equity Incentive Plan 2019
shares in Thousands
 3 Months Ended
Mar. 31, 2022
$ / shares
shares
Number of Shares  
Balance at the beginning of the year (in shares) | shares 1,558
Options cancelled (in shares) | shares (13)
Balance at the end of the period (in shares) | shares 1,545
Weighted Average Exercise Prices  
Weighted-average exercise price (in dollars per share) | $ / shares $ 3.49
Options cancelled (in dollars per share) | $ / shares 10.98
Weighted-average exercise price (in dollars per share) | $ / shares $ 3.43