Stock Incentive Plans - Schedule of Assumptions (Details) - Shares available for future stock incentive awards - $ / shares |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2021 |
Dec. 31, 2020 |
Dec. 31, 2019 |
|
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | |||
| Risk-free interest rate | 0.79% | 1.11% | 1.86% |
| Dividend yield | 0.00% | 0.00% | 0.00% |
| Expected term | 6 years 10 days | 6 years 14 days | 5 years 11 months 8 days |
| Expected volatility | 95.04% | 91.00% | 87.66% |
| Weighted-average fair value of common stock (in dollars per share) | $ 3.58 | $ 2.49 | $ 2.01 |