Stockholders' Equity - Summary of Stock Option Activity and Weighted Average Exercise Prices (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended	9 Months Ended
	Mar. 31, 2022	Sep. 30, 2022	Dec. 31, 2021
Options
Beginning balance (in shares)	4,782	4,782
Granted (in shares)		802
Exercised (in shares)		(200)
Cancelled or expired (in shares)		(870)
Ending balance (in shares)		4,514
Options vested and expected to vest (in shares)		1,187
Options exercisable at end of period (in shares)		2,680
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 27.52	$ 27.52
Granted (in dollars per share)		22.75
Exercised (in dollars per share)		6.27
Cancelled or expired (in dollars per share)		38.52
Ending balance (in dollars per share)		25.28
Options vested and expected to vest (in dollars per share)		31.64
Options exercisable at end of period (in dollars per share)		$ 20.67
Weighted Average Remaining Contractual Term
Weighted average remaining contract term, Options outstanding	6 years 9 months 7 days	6 years 6 months 29 days
Weighted average remaining contract term, Options vested and expected to vest		8 years 5 months 23 days
Weighted average remaining contract term, Options exercisable		5 years 2 months 15 days
Aggregate Intrinsic Value
Aggregate intrinsic value, Options outstanding		$ 1,471	$ 62,300
Aggregate intrinsic value, Options vested and expected to vest		895
Aggregate intrinsic value, Options exercisable		$ 476