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Stock-Based Compensation Expense - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended
Jan. 01, 2022
Feb. 28, 2022
Apr. 30, 2020
Feb. 29, 2016
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Number of shares granted             2,381,749    
Shares of common stock reserved for future issuances         10,830,112   10,830,112    
Common stock shares issued         31,826,357   31,826,357   13,007,178
Stock-based compensation expense         $ 1,107,000 $ 656,000 $ 1,951,000 $ 1,255,000  
Exercise price per share, granted             $ 5.07    
Unrecognized expense         $ 11,628,000   $ 11,628,000    
Weighted-average fair value of options granted to employees, directors and non-employees         $ 3.73 $ 5.49 $ 3.24 $ 7.28  
Aggregate intrinsic value of stock options exercised         $ 0 $ 72,000 $ 5,000 $ 200,000  
Milestone-based Awards                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Stock-based compensation expense         0 $ 0 $ 0 $ 0  
June Executive Options                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Exercise price per share, granted             $ 5.09    
February 2022 Options                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Exercise price per share, granted   $ 4.21              
Expiration date   Feb. 15, 2032              
Executive Options and June Executive Option                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Vesting period             5 years    
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         300,000   $ 400,000    
Revenue Based Milestone Awards                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Unrecognized expense         $ 36,000   $ 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         1,260,337   1,260,337    
Increase in Shares available for grant 520,287                
2020 Plan | February 2022 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   1,703,002              
Number of shares available for future grant         230,000   230,000    
Common stock shares issued   1,473,002              
Inducement Award Plan | Executive Options                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Number of shares granted   520,000              
Inducement Award Plan | June Executive Options                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Number of shares granted             953,002    
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%