Stockholders' Equity (Deficit) - Schedule of Assumptions used in Black-Scholes Model to Determine Fair Value of Stock/Unit Option Grants and Shares Purchasable under ESPP (Details)	12 Months Ended
Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate, Minimum	0.50%	0.30%	1.40%
Risk-free interest rate, Maximum	1.30%	1.50%	2.70%
Expected dividend yield	0.00%	0.00%	0.00%
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate, Minimum		0.10%
Risk-free interest rate, Maximum		0.20%
Expected term (in years)	6 months	6 months
Expected dividend yield	0.00%	0.00%
Risk-free interest rate	0.10%
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility	86.00%	88.00%	84.00%
Expected term (in years)	5 years 6 months	5 years 4 months 24 days	2 years
Minimum \| Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility	69.00%	75.00%
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility	88.00%	92.00%	88.00%
Expected term (in years)	6 years 1 month 6 days	6 years 1 month 6 days	6 years 1 month 6 days
Maximum \| Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility	75.00%	96.00%

The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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- Definition

The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

+ References

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- Definition

The risk-free interest rate assumption that is used in valuing an option on its own shares.

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- Definition

The maximum risk-free interest rate assumption that is used in valuing an option on its own shares.

+ References

No definition available.

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- Definition

The minimum risk-free interest rate assumption that is used in valuing an option on its own shares.

+ References

No definition available.

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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No definition available.

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- Definition

Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section S99
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-Subparagraph (SAB Topic 14.D.2)
-URI http://asc.fasb.org/extlink&oid=122041274&loc=d3e301413-122809

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