Stock-Based Compensation - Summary of Stock Option Activity under Plans (Details) - Equity Incentive Plan 2019 - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Number of Shares
Balance at the beginning of the year (in shares)	1,053	467
Options granted (in shares)	409	845
Options cancelled and returned to the Plans (in shares)	(20)	(254)
Options exercised (in shares)	(42)	(5)
Effect of business combination (in shares)	158
Balance at the end of the period (in shares)	1,558	1,053
Weighted Average Exercise Prices
Balance at the beginning of the year (in dollars per share)	$ 2.54	$ 8.20
Options granted (in dollars per share)	3.00	2.65
Options cancelled and returned to the Plans (in dollars per share)	1.72	6.85
Options exercised (in dollars per share)	2.72	1.77
Effect of business combination (in dollars per share)	10.35
Balance at the end of the period (in dollars per share)	$ 3.49	$ 2.54