Hercules Loan Facility - Additional Information (Details)									9 Months Ended
	Jan. 01, 2023 USD ($)	Oct. 18, 2022 USD ($)	Mar. 08, 2022 USD ($)	Mar. 07, 2022 USD ($)	Dec. 22, 2021 USD ($)	Mar. 11, 2021 USD ($)	Feb. 01, 2021 USD ($)	Aug. 07, 2020 USD ($) tranche	Sep. 30, 2022 USD ($)	Sep. 30, 2021 USD ($)	Dec. 31, 2021 USD ($)
Debt Instrument [Line Items]
Number of tranches | tranche								4
Loan facility received			$ 5,000,000						$ 5,000,000
Revenues								$ 20,000,000
Outstanding debt									0	$ 790,000
Loan issuance costs paid									0	$ 85,000
Principal amount									40,000,000
Face amount									2,800,000
Unamortized discount									$ 1,322,000
Tranche Two
Debt Instrument [Line Items]
Loan facility received								10,000,000
Tranche Three
Debt Instrument [Line Items]
Loan facility								5,000,000
Interest-only extension period					6 months
Extended loan maturity					1 year
Tranche Four
Debt Instrument [Line Items]
Loan facility								5,000,000
2020 Loan Agreement
Debt Instrument [Line Items]
Loan facility								35,000,000
Secured debt								9,700,000
New loan funding received								$ 5,300,000
Interest rate								15.00%	12.65%
Prime interest rate								3.25%
End-of term payment percentage of loan funding received								6.95%
Outstanding debt								$ 800,000
Loan issuance costs paid								300,000
Unrestricted cash								$ 5,000,000
Trailing period for revenue requirements								6 months
2020 Loan Agreement | Debt Instrument, Redemption, Period One
Debt Instrument [Line Items]
Prepayment percentage								0.03%
2020 Loan Agreement | Debt Instrument, Redemption, Period Two
Debt Instrument [Line Items]
Prepayment percentage								0.02%
2020 Loan Agreement | Debt Instrument, Redemption, Period Three
Debt Instrument [Line Items]
Prepayment percentage								0.01%
2020 Loan Agreement | Tranche One
Debt Instrument [Line Items]
Loan facility received								$ 15,000,000
Hercules Amended Loan Agreement
Debt Instrument [Line Items]
Loan facility							$ 45,000,000	$ 35,000,000
Loan issuance costs paid							100,000
Hercules Amended Loan Agreement | Tranche Two
Debt Instrument [Line Items]
Drawdown amount						$ 20,000,000
Loan Amendment 2022
Debt Instrument [Line Items]
Trailing period for revenue requirements			6 months	6 months
Unrestricted cash position			$ 15,000,000	$ 10,000,000
Percentage of forecasted net product revenues			65.00%	75.00%
Unamortized discount									$ 1,300,000		$ 2,000,000
Loan Amendment 2022 | Subsequent Event | Forecast
Debt Instrument [Line Items]
Prepayment charge	$ 400,000
Loan Amendment 2022 | Tranche Four
Debt Instrument [Line Items]
Loan facility received									5,000,000
Trailing period for revenue requirements			3 months
Net revenue achievement threshold			$ 30,000,000
Loan Amendment 2022 | Tranche Four | Subsequent Event
Debt Instrument [Line Items]
End-of-term payment		$ 2,800,000
Minimum | 2020 Loan Agreement
Debt Instrument [Line Items]
Interest rate								9.65%
Unrestricted cash								$ 10,000,000
Percentage of forecast revenue								75.00%
Minimum | Hercules Amended Loan Agreement
Debt Instrument [Line Items]
Unrestricted cash							10,000,000
Unfunded term loan							20,000,000
Unrestricted cash position							10,000,000
Minimum | Hercules Amended Loan Agreement | Tranche Two
Debt Instrument [Line Items]
Loan facility received							10,000,000
Unrestricted cash						10,000,000
Minimum | Hercules Amended Loan Agreement | Tranche Three
Debt Instrument [Line Items]
Loan facility received							20,000,000
Unrestricted cash						$ 15,000,000
Maximum | 2020 Loan Agreement
Debt Instrument [Line Items]
Indebtedness									$ 500,000
Maximum | Hercules Amended Loan Agreement
Debt Instrument [Line Items]
Unfunded term loan							30,000,000
Unrestricted cash position					$ 10,000,000		15,000,000
Maximum | Hercules Amended Loan Agreement | Tranche Two
Debt Instrument [Line Items]
Loan facility received							20,000,000
Maximum | Hercules Amended Loan Agreement | Tranche Three
Debt Instrument [Line Items]
Loan facility received							$ 35,000,000