Loans and Security Agreement - Narrative (Details) - Term loan			3 Months Ended		6 Months Ended
	Sep. 24, 2021 USD ($) installment	Mar. 16, 2020 USD ($) $ / shares shares	Jun. 30, 2022 USD ($)	Jun. 30, 2021 USD ($)	Jun. 30, 2022 USD ($)	Jun. 30, 2021 USD ($)
Term loan
Debt Instrument [Line Items]
Aggregate principal amount	$ 7,500,000	$ 35,000,000
Calculation for number of shares of common stock able to be purchased by warrant, percentage of principal amount of relevant term loan funded funded		3.50%
Warrant exercise price calculation, period immediately preceding execution of loan agreement, number of trading days		5 days
Interest rate, base percentage		4.75%
Interest rate, additional percentage added to base percentage		4.00%
Initial interest rate percentage		8.75%
Effective interest rate		10.90%
Option to add interest rate amount to outstanding principal balance in lieu of paying such amount in cash, percentage		1.00%
Interest expense			$ 400,000	$ 600,000	$ 1,200,000	$ 800,000
Number of monthly installments | installment	10
Prepayment premium percentage	5.00%
Minimum liquidity floor	$ 5,000,000
Minimum principal amount pursuant to liquidity covenant	$ 15,000,000
Outstanding balance, net of unamortized issuance costs and unaccreted discount			15,500,000		15,500,000
Unamortized issuance costs and unaccreted discount			$ 1,000,000		$ 1,000,000
Term loan | Minimum
Debt Instrument [Line Items]
Period for which company is entitled to make interest-only payments		30 months
Term loan | Maximum
Debt Instrument [Line Items]
Period for which company is entitled to make interest-only payments		36 months
Term loan, first tranche
Debt Instrument [Line Items]
Aggregate principal amount		$ 22,500,000
Net draw down proceeds		21,200,000
Closing costs		$ 1,300,000
Exercise price of warrant (in dollars per share) | $ / shares		$ 18.15
Number of shares of common stock for which warrant is exercisable (in shares) | shares		43,388
Additional debt discount recognized		$ 500,000
Term loan, second and third tranches
Debt Instrument [Line Items]
Warrant exercise price calculation, period immediately preceding relevant funding, number of trading days		5 days
Term loan, second and third tranches | Maximum
Debt Instrument [Line Items]
Exercise price of warrant (in dollars per share) | $ / shares		$ 18.15
Term loan, second tranche
Debt Instrument [Line Items]
Aggregate principal amount		$ 5,000,000
Term loan, third tranche
Debt Instrument [Line Items]
Aggregate principal amount		$ 7,500,000