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Stock-Based Compensation Expense - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended
Jan. 01, 2022
Feb. 28, 2022
Apr. 30, 2020
Feb. 29, 2016
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares granted         1,303,822    
Shares of common stock reserved for future issuances         4,648,412    
Common stock shares issued         13,009,896   13,007,178
Stock-based compensation expense         $ 844,000 $ 599,000  
Exercise price per share, granted         $ 5.02    
Unrecognized expense         $ 8,770,000    
Weighted-average fair value of options granted to employees, directors and non-employees         $ 2.84 $ 7.65  
Aggregate intrinsic value of stock options exercised         $ 5,000 $ 200,000  
Milestone-based Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Stock-based compensation expense         $ 0 $ 0  
Executive Options              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting period   5 years          
Exercise price per share, granted   $ 4.21          
Expiration date   Feb. 15, 2032          
Vesting rights         The Executive Options vest as to one-third of the shares underlying the options, in each case, upon the achievement of three distinct market capitalization targets during the five-year performance period following the date of grant, provided that no more than one-third of the option may vest prior to the first anniversary of the date of grant, no more than two-thirds of the option may vest prior to the second anniversary of the date of grant and the option may not become fully vested prior to the third anniversary of the date of grant, subject to the executive officers’ continued service on each applicable vesting date and certain exceptions in the context of a change in control transaction.    
Market-Conditions Based Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Stock-based compensation expense         $ 42,000    
Revenue Based Milestone Awards              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Unrecognized expense         $ 36,000    
Minimum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting period         4 years    
Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Stock option expiration period         10 years    
2005 and 2016 Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares granted       0      
2020 Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Shares of common stock reserved for future issuances     2,100,000        
Maximum number of common shares issued     8,800,000        
Percentage of common shares increase automatically in each year     4.00%        
Number of shares available for future grant         1,363,660    
Increase in Shares available for grant 520,287            
2020 Plan | Executive Options              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares granted   175,000          
Inducement Award Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Shares of common stock reserved for future issuances   520,000          
Common stock shares issued   520,000          
Inducement Award Plan | Executive Options              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares granted   520,000          
2020 ESPP              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares granted         0    
Shares of common stock reserved for future issuances     150,000        
Maximum number of common shares issued 65,035   987,500        
Annual increase in number of shares available for issuance as percentage of outstanding shares common stock on final day of immediately preceding fiscal year     0.50%        
Purchase price of shares as percentage lower of fair market value of common stock     85.00%