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Stock-based Compensation - Summary of Stock Option Activity with in 2014 Stock Incentive Plan and 2019 Incentive Award Plan (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of shares, Exercised   (697)  
2014 and 2019 Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of shares, Beginning balance 6,830,037    
Number of shares, Granted 42,300    
Number of shares, Exercised (9,997)    
Number of shares, Forfeited (251,677)    
Number of shares, Ending balance 6,610,663   6,830,037
Number of shares, Options exercisable as of March 31, 2022 4,337,140    
Number of shares, Options unvested as of March 31, 2022 2,108,313    
Weighted average exercise price, Beginning balance $ 14.72    
Weighted average exercise price, Granted 4.87    
Weighted average exercise price, Exercised 1.24    
Weighted average exercise price, Forfeited 20.45    
Weighted average exercise price, Ending balance 14.46   $ 14.72
Weighted average exercise price, Options exercisable as of March 31, 2022 10.63    
Weighted average exercise price, Options unvested as of March 31, 2022 $ 21.30    
Weighted average remaining contractual term (in years), Outstanding 7 years   7 years 9 months 3 days
Weighted average remaining contractual term (in years), Granted 9 years 10 months 2 days    
Weighted average remaining contractual term (in years), Options exercisable as of March 31, 2022 6 years 8 months 8 days    
Weighted average remaining contractual term (in years), Options unvested as of September 30, 2021 8 years 2 months 1 day    
Aggregate intrinsic value, Outstanding as of December 31, 2021 $ 6,987    
Aggregate intrinsic value, Exercised 37    
Aggregate intrinsic value, Outstanding as of March 31, 2022 1,283   $ 6,987
Aggregate intrinsic value, Options exercisable as of March 31, 2022 1,282    
Aggregate intrinsic value, Options unvested as of March 31, 2022 $ 1