Organization and Basis of Presentation - Additional Information (Details) $ / shares in Units, $ in Millions				12 Months Ended
		Jul. 29, 2021 USD ($) $ / shares shares	Jul. 22, 2021	Dec. 31, 2021 USD ($) Subsidiary $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares		Jul. 28, 2021 shares
Subsequent Event [Line Items]
Number of wholly owned subsidiaries | Subsidiary				2
Reverse stock split			1-for-10.33
Common stock par or stated value per share | $ / shares		$ 0.001
Common stock, authorized (in shares)		900,000,000		900,000,000
Preferred stock par value per share | $ / shares				$ 0.001	$ 0.001
Preferred stock, shares authorized				100,000,000	16,572,792
Preferred stock, shares outstanding				0	14,376,272	[1]
Aggregate shares of common stock				14,850,993			14,725,309
Number of converted shares of common stock				100,261
Cash, cash equivalents, and short-term investments | $				$ 159.3
Losses from operations | $				$ 52.8	$ 35.4
Convertible Preferred Stock [Member]
Subsequent Event [Line Items]
Preferred stock par value per share | $ / shares		$ 0.001		$ 0.001	$ 0.001
Preferred stock, shares authorized		100,000,000
Preferred stock, shares outstanding				14,376,272			14,376,272
Series H Convertible Preferred Stock
Subsequent Event [Line Items]
Sale of Stock, Transaction Date					Feb. 28, 2017
Common stock par or stated value per share | $ / shares					$ 12.40
Preferred stock par value per share | $ / shares					$ 0.001
Preferred stock, shares authorized					5,949,499
Preferred stock, shares outstanding	[1]				3,805,567
Warrants exercised				225,945			225,945
Number of converted shares of common stock				225,945			100,261
IPO [Member]
Subsequent Event [Line Items]
Sale of Stock, Transaction Date		Jul. 29, 2021
Sale of shares		7,350,000
Common stock par or stated value per share | $ / shares		$ 16.00
Additional common shares sold		898,549
Common stock sale underwriting discounts and commission deducted | $		$ 9.2
Common stock offering costs | $		3.2
Aggregate net proceeds from offering | $		$ 120.0

[1] The shares authorized, issued and outstanding do not reflect any anti-dilution provisions of Series C, Series D, Series E and Series F as a result of the Series G financing.