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Stockholders' Equity - Summary of Stock Option Plans Activity (Details) - Employee Stock Option - USD ($)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of Shares, Beginning Balance 487,227 193,660  
Number of Shares, Granted 153,833 387,178  
Number of Shares, Exercised (75)    
Number of Shares, Forfeited (52,874) (67,369)  
Number of Shares, Expired/Cancelled (28,775) (26,242)  
Number of Shares, Ending Balance 559,336 487,227 193,660
Number of Shares, Exercisable 298,987 187,031  
Weighted-Average Exercise Price Per Share, Beginning Balance $ 16.78 $ 35.55  
Weighted-Average Exercise Price Per Share, Granted 5.45 7.81  
Weighted-Average Exercise Price Per Share, Exercised 4.35    
Weighted-Average Exercise Price Per Share, Forfeited 11.98 12.99  
Weighted-Average Exercise Price Per Share, Expired/Cancelled 20.39 32.04  
Weighted-Average Exercise Price Per Share, Ending Balance 13.93 16.78 $ 35.55
Weighted-Average Exercise Price Per Share, Exercisable $ 20.14 $ 27.07  
Weighted-Average Remaining Contractual Life, Outstanding 8 years 2 months 12 days 8 years 7 months 6 days 8 years
Weighted-Average Remaining Contractual Life, Exercisable 7 years 4 months 24 days 7 years 6 months  
Aggregate Intrinsic Value, Balance $ 1,536 $ 781  
Aggregate Intrinsic Value, Exercised 107    
Aggregate Intrinsic Value, Balance 30,267 1,536 $ 781
Aggregate Intrinsic Value, Exercisable $ 6,269 $ 305