Equity Incentive Plans - Summary of Options Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Summary of the activity of stock option awards, shares
Options outstanding, Beginning Balance (in Shares)	1,951,000
Options granted (in shares)	478,000	500,000	400,000
Options exercised (in Shares)	(2,000)
Options forfeited/canceled (in shares)	(580,000)
Options outstanding, Ending Balance (in Shares)	1,847,000	1,951,000
Options vested and expected to vest (in Shares)	1,782,000
Options exercisable (in Shares)	1,105,000
Summary of the activity of stock option awards, weighted average exercise price
Options outstanding, Beginning Balance, Wtd. Avg. Exercise Price (in dollars per share)	$ 22.07
Options granted, Wtd. Avg. Exercise Price (in dollars per share)	7.52
Options exercised, Wtd. Avg. Exercise Price (in dollars per share)	7.52
Options forfeited/canceled, Wtd. Avg. Exercise Price (in dollars per share)	17.01
Options outstanding, Ending Balance, Wtd. Avg. Exercise Price (in dollars per share)	19.92	$ 22.07
Options vested and expected to vest, Wtd. Average Exercise Price (in dollars per share)	20.24
Options exercisable, Wtd. Avg. Exercise Price (in dollars per share)	$ 24.27
Options outstanding, Ending Balance, Wtd. Avg. Remaining Contractual Term	6 years 2 months 23 days	6 years 7 months 13 days
Options vested and expected to vest, Wtd. Avg Remaining Contractual Term	6 years 1 month 20 days
Options exercisable, Wtd. Avg. Remaining Contractual Term	4 years 10 months 9 days
Options outstanding, Ending Balance, Average Intrinsic Value	$ 73
Options vested and expected to vest at December 31, 2021	65
Options exercisable at December 31, 2021	1
Intrinsic value of options exercised			$ 433
Fair value of shares vested	$ 925	$ 1,061	$ 971