Debt - Additional Information (Details) - USD ($)		1 Months Ended	3 Months Ended	9 Months Ended
	Aug. 06, 2021	Aug. 06, 2021	Sep. 30, 2021	Sep. 30, 2021
Debt Instrument [Line Items]
Line of credit facility, interest rate		4.50%
Proceeds from Issuance of Warrants			$ 788,000	$ 788,000
Interest expense amortized date				Mar. 01, 2023
Interest expense			400,000
Term Loan [Member]
Debt Instrument [Line Items]
Maximum borrowing capacity under the credit facility	$ 25,000,000.0	$ 25,000,000.0
Initial borrowing	25,000,000.0	$ 25,000,000.0
Description of payment terms				Agreement with principal repayments for the Term Loan Agreement starting on September 1, 2023 and a maturity date of August 1, 2025.
Interest rate				7.75%
Percentage of final payment due		5.75%
Line of credit facility, interest rate		7.75%
Silicon Valley Bank Loan [Member]
Debt Instrument [Line Items]
Debt remaining borrowing capacity	25,000,000.0	$ 25,000,000.0
Debt Instrument, maturity date				Aug. 01, 2025
Debt instrument description of variable rate basis				Outstanding loans bear interest, payable monthly, at the greater of (a) 7.75% and (b) the current published U.S. prime rate, plus a margin of 4.5%. As of September 30,
Debt instrument, periodic payment	$ 5,000,000
Cash and cash equivalents portion to be pledged	50.00%
Additional rate of interest on default	3.00%
Number of warrants issued	432,844	432,844
Warrant exercise per share	$ 2.22	$ 2.22
Proceeds from Issuance of Warrants	$ 800,000
Additional number warrants issued	432,842	432,842
Silicon Valley Bank Loan [Member] | Term A Tranche [Member]
Debt Instrument [Line Items]
Description of payment terms				the Term A Tranche will start on April 1, 2022, with a maturity date of March 1, 2023; however, if an Equity Milestone is achieved on or before March 31, 2022, principal repayments for the Term A Tranche will start on September 1, 2022, with a maturity date of August 1, 2025.
Silicon Valley Bank Loan [Member] | Term B Tranche [Member]
Debt Instrument [Line Items]
Debt remaining borrowing capacity	$ 25,000,000.0	$ 25,000,000.0
Silicon Valley Bank Loan [Member] | Term Loan [Member]
Debt Instrument [Line Items]
Maximum borrowing capacity under the credit facility	50,000,000.0	50,000,000.0
Silicon Valley Bank Loan [Member] | Term Loan [Member] | Term A Tranche [Member]
Debt Instrument [Line Items]
Initial borrowing	$ 25,000,000.0	$ 25,000,000.0
Silicon Valley Bank Loan [Member] | Warrants
Debt Instrument [Line Items]
Issuance costs			$ 1,000,000.0	$ 1,000,000.0