Stock Incentive Plans - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions |
1 Months Ended |
3 Months Ended |
12 Months Ended |
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Jan. 31, 2021 |
Jan. 31, 2020 |
Mar. 31, 2021 |
Dec. 31, 2021 |
Dec. 31, 2020 |
Dec. 31, 2019 |
Mar. 31, 2019 |
Sep. 30, 2018 |
Jun. 30, 2016 |
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
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| Common stock authorized and reserved for future issuance (in shares) |
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28,209,867
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25,157,139
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| Shares available for future stock incentive awards |
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| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
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| Common stock authorized and reserved for future issuance (in shares) |
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6,039,564
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4,916,374
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| Weighted average grant date fair value of stock options (in dollars per share) |
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$ 2.73
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$ 1.86
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$ 1.47
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| Unrecognized compensation expense related to unvested employee stock options |
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$ 11.5
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$ 8.0
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| Weighted average period for recognition |
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2 years 8 months 12 days
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2 years 3 months 18 days
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| Estimated forfeitures rate |
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10.00%
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| Restricted Stock Units (RSUs) |
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| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
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| Grants in period (in shares) |
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605,200
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| Grants in period (in dollars per share) |
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$ 2.10
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| 2016 Plan |
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| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
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| Number of shares authorized for grants (in shares) |
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1,210,256
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| Number of shares authorized, increase (in shares) |
4,322,850
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3,453,022
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| Common stock authorized and reserved for future issuance (in shares) |
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1,925,537
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| 2016 Plan | Restricted Stock Units (RSUs) |
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| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
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| Grants in period (in shares) |
407,700
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| Grants in period (in dollars per share) |
$ 3.11
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| Award vesting term |
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4 years
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| Awarded in period (in shares) |
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197,500
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| Employment Inducement Incentive Award Plan |
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| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
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| Number of shares authorized for grants (in shares) |
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1,591,661
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| Common stock authorized and reserved for future issuance (in shares) |
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|
2,000,000
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1,175,000
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| Employment Inducement Incentive Award Plan | Restricted Stock Units (RSUs) |
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| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
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| Weighted average period for recognition |
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2 years 8 months 12 days
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| Unrecognized compensation expense |
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$ 0.9
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