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Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended
Jan. 31, 2021
Jun. 30, 2022
Jun. 30, 2021
Mar. 31, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Share-based Compensation              
Total grant date fair value of options vested   $ 853,000 $ 220,000   $ 1,800,000 $ 533,000  
Shares available for future issuance (in shares)   618,612     618,612   1,038,956
Number of Options, Options cancelled/forfeited         88,654    
Number of shares cancelled/forfeited related to a prior stock-based compensation plan that are no longer available for grant under the current stock-based compensation plan         22,364    
Value of share issued   $ 167,000 $ 92,000 $ 364,000      
Number of stock options granted (in shares)         489,244    
Employees [Member]              
Share-based Compensation              
Weighted-average grant date fair value of options granted   $ 4.40 $ 3.18   $ 5.40 $ 3.43  
ESPP              
Share-based Compensation              
Increase in number of shares reserved for issuance (in shares) 198,584            
Shares available for future issuance (in shares)   814,341     814,341    
Number of shares issued (in shares)   37,017 32,186   37,017 32,186  
Value of share issued   $ 167,000 $ 92,000   $ 167,000 $ 92,000