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Net Loss per Share - Anti-Dilutive Securities Excluded from Calculation of Diluted Net Loss per Share (Details) - shares
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Anti-dilutive securities excluded from calculation of diluted net loss per share (in shares) 19,970,534 18,402,397
Warrant    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Anti-dilutive securities excluded from calculation of diluted net loss per share (in shares) 0 509,611
Share-based Payment Arrangement, Option    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Anti-dilutive securities excluded from calculation of diluted net loss per share (in shares) 14,187,899 11,369,546
Unvested restricted stock units    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Anti-dilutive securities excluded from calculation of diluted net loss per share (in shares) 5,782,635 6,523,240