Equity Incentive Plans - Summary of Options Activity (Details) $ / shares in Units, shares in Thousands, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Summary of the activity of stock option awards, shares
Options outstanding, Beginning Balance (in Shares) | shares	1,847
Options granted (in shares) | shares	342
Options exercised (in Shares) | shares	(3)
Options forfeited/canceled/expired (in shares) | shares	(260)
Options outstanding, Ending Balance (in Shares) | shares	1,926	1,847
Options vested and expected to vest (in Shares) | shares	1,853
Options exercisable (in Shares) | shares	1,228
Summary of the activity of stock option awards, weighted average exercise price
Options outstanding, Beginning Balance, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	$ 19.92
Options granted, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	5.76
Options exercised, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	7.52
Options forfeited/canceled/expired, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	15.94
Options outstanding, Ending Balance, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	17.98	$ 19.92
Options vested and expected to vest, Wtd. Average Exercise Price (in dollars per share) | $ / shares	18.38
Options exercisable, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	$ 22.83
Options outstanding, Ending Balance, Wtd. Avg. Remaining Contractual Term	6 years 2 months 4 days	6 years 2 months 23 days
Options vested and expected to vest, Wtd. Avg Remaining Contractual Term	6 years 29 days
Options exercisable, Wtd. Avg. Remaining Contractual Term	4 years 10 months 20 days
Options outstanding, Ending Balance, Average Intrinsic Value | $	$ 605	$ 73
Options vested and expected to vest at September 30, 2022 | $	526
Options exercisable at September 30, 2022 | $	$ 13