To void an envelope, is to "cancel" any signing links sent out to the receiving parties, and any signatories who have already signed the document will need to sign again.
To void the envelope, open the Collaboration page for the document and click on Electronic Signing, then select "Void Envelope":
Select "OK" to "Do you really want to void e-signing envelope?":
The document will then go back to its original state and will have access to amendment if required. Once re-completed, you have the option to resend for signing.