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Equity Incentive Plans - Stock Option Activity (Details)
$ / shares in Units, $ in Millions
 6 Months Ended
Jun. 30, 2021
USD ($)
$ / shares
shares
Shares Underlying Stock Options  
Outstanding beginning balance, Shares underlying stock options and restricted stock awards (in shares) | shares 4,121,666
Granted, Shares underlying stock options and restricted stock awards (in shares) | shares 562,329
Exercised, Shares underlying stock options and restricted stock awards (in shares) | shares (29,379)
Cancelled/Forfeited, Shares underlying stock options and restricted stock awards (in shares) | shares (569,549)
Outstanding ending balance, Shares underlying stock options and restricted stock awards (in shares) | shares 4,085,067
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Shares | shares 1,107,878
Weighted- Average Exercise Price per Share  
Outstanding beginning balance, Weighted - average exercise price (usd per share) | $ / shares $ 8.67
Granted, Weighted - average exercise price (usd per share) | $ / shares 4.96
Exercised, Weighted - average exercise price (usd per share) | $ / shares 5.23
Cancelled/forfeited, Weighted - average exercise price (usd per share) | $ / shares 9.21
Outstanding ending balance, Weighted - average exercise price (usd per share) | $ / shares 8.10
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price | $ / shares $ 16.71
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term 8 years 3 months 18 days [1]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term 5 years 8 months 12 days [1]
Outstanding, Aggregate Intrinsic Value | $ $ 0.2 [2]
[1] Represents the weighted-average remaining contractual term of stock options.
[2] Aggregate intrinsic value represents the product of the number of equity awards outstanding or equity awards exercisable multiplied by the difference between the Company’s closing stock price per share on the last trading day of the period, which was $4.28 as of June 30, 2021, and the exercise price.