Organization and Basis of Presentation - Additional Information (Details) $ / shares in Units, $ in Millions			3 Months Ended		6 Months Ended
	Jul. 29, 2021 USD ($) $ / shares shares	Jul. 22, 2021	Jun. 30, 2022 USD ($) $ / shares shares	Jun. 30, 2021 USD ($)	Jun. 30, 2022 USD ($) Subsidiary $ / shares shares	Jun. 30, 2021 USD ($)	Dec. 31, 2021 USD ($) $ / shares shares	Jul. 31, 2021 shares
Subsequent Event [Line Items]
Number of wholly owned subsidiaries | Subsidiary					1
Preferred stock, shares outstanding			0		0		0
Aggregate shares of common stock			14,725,309		14,725,309
Reverse stock split		1-for-10.33
Cash, cash equivalents, and short-term investments | $			$ 128.6		$ 128.6		$ 159.3
Losses from operations | $			$ 15.8	$ 13.9	$ 32.4	$ 25.0
Common stock, shares authorized	900,000,000		900,000,000		900,000,000		900,000,000
Common stock par value per share | $ / shares	$ 0.001		$ 0.001		$ 0.001		$ 0.001
Preferred stock, shares authorized			100,000,000		100,000,000		100,000,000
Preferred stock par value per share | $ / shares			$ 0.001		$ 0.001		$ 0.001
Convertible Preferred Stock
Subsequent Event [Line Items]
Preferred stock, shares outstanding			14,376,272		14,376,272
Preferred stock, shares authorized	100,000,000
Preferred stock par value per share | $ / shares	$ 0.001
Series H Convertible Preferred Stock
Subsequent Event [Line Items]
Aggregate shares of common stock								100,261
Warrants exercised			225,945		225,945
Number of converted shares of common stock			100,261		100,261
IPO [Member]
Subsequent Event [Line Items]
Sale of shares	8,248,549
Sale of stock, date	Jul. 29, 2021
Common stock par or stated value per share | $ / shares	$ 16.00
Additional common shares sold	898,549
Aggregate net proceeds from offering | $	$ 119.6
Aggregate shares of common stock								14,376,272
Common stock sale underwriting discounts and commission deducted | $	9.2
Common Stock Offering Costs | $	$ 3.2