Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Contingency [Line Items]
Effective tax rate	0.00%	0.00%
Valuation allowance	$ 79,476,000	$ 64,211,000
Federal net operating loss carryforwards	287,600,000	245,400,000
State net operating loss carryforwards	173,400,000	145,000,000.0
Deferred tax assets operating loss carryforwards will not expired	170,500,000
Federal research and development tax credit carry-forwards	3,300,000	2,900,000
State research and development tax credit carry-forwards	3,900,000	3,400,000
Unrecognized tax benefits	1,791,000	$ 1,575,000	$ 1,311,000
Interest or penalties associated with unrecognized tax benefits	$ 0
CARES Act
Income Tax Contingency [Line Items]
CARES Act net operating loss carryback period for certain losses	5 years
CARES Act, tax period description	The CARES Act is an emergency economic stimulus package that includes spending and tax breaks to strengthen the United States economy and fund a nationwide effort to curtail the effects of COVID-19. While the CARES Act provides sweeping tax changes in response to the pandemic, some of the more significant provisions which are expected to impact the Company’s financial statements include removal of certain limitations on utilization of net operating losses, increasing the loss carryback period for certain losses to five years and increasing the ability to deduct interest expense, as well as amending certain provisions of the previously enacted Tax Cuts and Jobs Act.
R&D credit carryforwards
Income Tax Contingency [Line Items]
Ownership change percentage	50.00%
Federal
Income Tax Contingency [Line Items]
Tax credit carryforward begin to expiration period	2032
State
Income Tax Contingency [Line Items]
Operating loss carryforwards begin to expiration period	2026