Hercules Loan Facility - Future Minimum Payments Under Loans Payable (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Debt Disclosure [Abstract]
2022 (remaining six months)	$ 2,255
2023	22,927
2024	24,666
Long-term debt, gross	49,848
Less amount representing interest	(7,068)
Less unamortized discount	(1,571)
Less deferred charges	(2,780)
Less loans payable current, net of discount	5,182	$ 0
Loans payable, net of discount	$ 33,247	$ 37,960

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Amount, before unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but is not limited to, notes payable, bonds payable, commercial loans, mortgage loans, convertible debt, subordinated debt and other types of debt.

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Carrying value as of the balance sheet date of loans payable (with maturities initially due after one year or beyond the operating cycle if longer), excluding current portion.

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