Equity - Additional Information (Details)				1 Months Ended	3 Months Ended		6 Months Ended
	Apr. 08, 2022 USD ($) $ / shares	Apr. 07, 2022 shares	Mar. 07, 2022 USD ($) shares	Nov. 30, 2021 USD ($)	Jun. 30, 2022 USD ($) $ / shares shares	Mar. 31, 2022 USD ($)	Jun. 30, 2022 USD ($) Facility $ / shares shares
Class of Stock [Line Items]
Proceeds from the sale of common shares							$ 16,135,000
Aggregate offering price					$ 14,329,000	$ 1,417,000
Subscription agreements description							On April 7, 2022, the Company entered into subscription agreements (the Subscription Agreements) with a consortium of investors (the Investors), including three members of our Board of Directors and other existing shareholders of the Company, for the issuance and sale by the Company of 6,508,376 shares of the Company’s common stock (the Shares) in an offering (the Private Placement). The three members of our Board of Directors acquired an aggregate of 3,631,284 shares pursuant to the form of a Subscription Agreement that did not include any registration rights. The remaining 2,877,092 shares were acquired by others pursuant to the form of a Subscription Agreement whereby the Company agreed to file, subject to certain exceptions, a shelf registration statement with respect to resales of such shares with the Securities and Exchange Commission no later than 60 days from April 7, 2022, which the Company filed on June 6, 2022.Pursuant to the Subscription Agreements, the Investors purchased shares at a purchase price (determined in accordance with Nasdaq rules relating to the “Minimum Value” of the Company’s common stock) of $1.79 per share, which is equal to the closing price of the Company's common stock on April 7, 2022, for an aggregate purchase price of approximately $11.7 million. The Subscription Agreements include customary representations, warranties and covenants by the parties to the agreement.WarrantsDuring 2018, the Company issued warrants to purchase shares of convertible preferred stock in conjunction with the sale of certain convertible preferred shares and issuance of debt. The Company issued to the lender a warrant to purchase 613,333 shares of Series G convertible preferred stock, at an exercise price of $0.75 per share, subject to adjustment upon specified dilutive issuances. The warrant was immediately exercisable upon issuance and expires on February 23, 2028. Through the effective date of the Company’s initial public offering (IPO) in October 2020, the Series G warrants were remeasured to an estimate of fair value using a Black-Scholes pricing model. As a result of the Company’s IPO, the preferred stock warrants were automatically converted to warrants to purchase 103,326 shares of common stock with a weighted average exercise price of $4.46 and were also transferred to additional paid-in capital. All common stock warrants remain outstanding as of June 30, 2022.
Warrants, expires period					Feb. 23, 2028		Feb. 23, 2028
Series G Preferred Stock | 2018 Notes
Class of Stock [Line Items]
Warrant issued to purchase shares | shares					613,333		613,333
Warrant, exercise price | $ / shares					$ 0.75		$ 0.75
Maximum
Class of Stock [Line Items]
Aggregate offering price				$ 50,000,000.0
Equity Financing Programs
Class of Stock [Line Items]
Number of facility | Facility							2
Proceeds from the sale of common shares					$ 2,900,000		$ 4,500,000
Shares of common stock issued and sold | shares					1,419,139		2,127,891
Weighted Average Price Per Share | $ / shares					$ 2.03		$ 2.11
Equity Financing Programs | Lincoln Park
Class of Stock [Line Items]
Common stock issuable, committed to purchase			$ 600,000
Purchase agreement term			36 months
Stock issuable per day, number of shares | shares			50,000
Shares issued or issuable, threshold limit description			Under applicable rules of the Nasdaq Capital Market, in no event may the Company issue or sell to Lincoln Park under the Purchase Agreement more than 19.99% of the shares of the Company’s common stock outstanding immediately prior to the execution of the Purchase Agreement (the Exchange Cap), unless (i) the Company obtains stockholder approval to issue shares of common stock in excess of the Exchange Cap or (ii) the average price of all applicable sales of common stock to Lincoln Park under the Purchase Agreement equals or exceeds $2.20 per share, such that issuances and sales of the common stock to Lincoln Park under the Purchase Agreement would be exempt from the Exchange Cap limitation under applicable Nasdaq rules.
Maximum percentage of common stock allowed to purchase by counterparty			9.99%
Shares issued as commitment fee | shares			184,275
Commitment shares issuable on conditional basis | shares			61,425
Diligence expenses and legal fees as deferred offering costs			$ 129,000
Adjustments to additional paid-in capital deferred offering costs			18,000
Deferred offering costs					$ 711,000		$ 711,000
Equity Financing Programs | Lincoln Park | Maximum
Class of Stock [Line Items]
Common stock issuable, committed to purchase			$ 50,000,000.0
Stock issuable per day, number of shares | shares			100,000
Stock issuable per day, value			$ 1,500,000
Shares issued as commitment fee, value			$ 20,000,000.0
At-The-Market Offering
Class of Stock [Line Items]
Net proceeds from sale of common shares after deducting underwriting discounts and commissions and offering expenses					$ 2,800,000		$ 4,000,000.0
IPO
Class of Stock [Line Items]
Warrant issued to purchase shares | shares					103,326		103,326
Warrant, exercise price | $ / shares					$ 4.46		$ 4.46
Subscription Agreements
Class of Stock [Line Items]
Price per share | $ / shares	$ 1.79
Aggregate purchase price	$ 11,700,000
Subscription Agreements | Private Placement
Class of Stock [Line Items]
Shares of common stock issued and sold | shares		6,508,376
Subscription Agreements | Private Placement | Board of Directors
Class of Stock [Line Items]
Shares of common stock issued and sold | shares		3,631,284
Subscription Agreements | Private Placement | Existing Shareholders
Class of Stock [Line Items]
Shares of common stock issued and sold | shares		2,877,092
At-The-Market Facility | Equity Financing Programs
Class of Stock [Line Items]
Remaining available capacity for share issuance					$ 29,900,000		$ 29,900,000
LPC Facility | Equity Financing Programs
Class of Stock [Line Items]
Remaining available capacity for share issuance					$ 49,200,000		$ 49,200,000