Stock-Based Compensation Expense - Summary of Stock Option Activity Under Plans (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Shares, Outstanding December 31, 2020	1,428,886
Number of shares granted	428,500
Shares, Exercised	(72,201)
Shares, Cancelled	(122,324)
Shares, Outstanding at December 31, 2021	1,662,861	1,428,886
Shares, Exercisable at December 31, 2021	856,363
Shares, Vested and expected to vest at December 31, 2021	1,662,861
Weighted Average Exercise Price, Outstanding December 31, 2020	$ 10.41
Weighted Average Exercise Price, Granted	9.72
Weighted Average Exercise Price, Exercised	8.36
Weighted Average Exercise Price, Cancelled	10.14
Weighted Average Exercise Price, Outstanding December 31, 2021	10.34	$ 10.41
Weighted Average Exercise Price, Exercisable at December 31, 2021	9.85
Weighted Average Exercise Price,Vested and expected to vest at December 31, 2021	$ 10.34
Outstanding, Weighted Average Remaining Contractual Life (in years)	7 years 7 months 6 days	7 years 8 months 12 days
Exercisable, Weighted Average Remaining Contractual Life (in years)	6 years 8 months 12 days
Vested and expected to vest, Weighted Average Remaining Contractual Life (in years)	7 years 7 months 6 days
Aggregate Intrinsic Value, Outstanding December 31, 2020	$ 918	$ 5,165
Aggregate Intrinsic Value, Exercisable at December 31, 2021	732
Aggregate Intrinsic Value, Vested and expected to vest at December 31, 2021	$ 918