Property and Equipment and Capitalized Software - Summary of Composition of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Property Plant And Equipment [Line Items]
Property and equipment, gross	$ 4,845	$ 3,757
Less: Accumulated depreciation	(2,778)	(2,537)
Property and equipment, net	2,067	1,220
Laboratory Equipment
Property Plant And Equipment [Line Items]
Property and equipment, gross	433	249
Office Equipment
Property Plant And Equipment [Line Items]
Property and equipment, gross	508	497
Computer Equipment and Software
Property Plant And Equipment [Line Items]
Property and equipment, gross	1,677	1,598
Manufacturing Equipment
Property Plant And Equipment [Line Items]
Property and equipment, gross	344	341
Leasehold Improvements
Property Plant And Equipment [Line Items]
Property and equipment, gross	1,345	471
Rental Equipment
Property Plant And Equipment [Line Items]
Property and equipment, gross	538	601
Property and equipment, net	$ 500	$ 600

Amount of accumulated depreciation, depletion and amortization for physical assets used in the normal conduct of business to produce goods and services.

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Amount before accumulated depreciation, depletion and amortization of physical assets used in the normal conduct of business and not intended for resale. Examples include, but are not limited to, land, buildings, machinery and equipment, office equipment, and furniture and fixtures.

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