Stockholders' Equity - Schedule of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Equity [Abstract]
Number of Shares Underlying Outstanding Options, Beginning balance | shares	2,175,685
Number of Shares Underlying Outstanding Options, Granted | shares	79,100
Number of Shares Underlying Outstanding Options, Exercised | shares	(34,041)
Number of Shares Underlying Outstanding Options, Forfeited or Cancelled | shares	(75,760)
Number of Shares Underlying Outstanding Options, Ending balance | shares	2,144,984	2,175,685
Number of Shares Underlying Outstanding Options, Shares Exercisable | shares	1,570,397
Number of Shares Underlying Outstanding Options, Vested and Expected to Vest | shares	2,144,984
Weighted Average Exercise Price, Outstanding beginning balance | $ / shares	$ 9.27
Weighted Average Exercise Price, Options granted | $ / shares	4.06
Weighted Average Exercise Price, Options exercised | $ / shares	0.61
Weighted Average Exercise Price, Options forfeited or cancelled | $ / shares	7.99
Weighted Average Exercise Price, Outstanding ending balance | $ / shares	9.26	$ 9.27
Weighted Average Exercise Price, Shares exercisable | $ / shares	9.51
Weighted Average Exercise Price, vested and expected to vest | $ / shares	$ 9.26
Weighted Average Remaining Contractual Term (in years), Outstanding	8 years 3 months 18 days	8 years 8 months 12 days
Weighted Average Remaining Contractual Term (in years), Shares exercisable	8 years
Weighted Average Remaining Contractual Term (in years), Vested and Expected to Vest	8 years 3 months 18 days
Aggregate Intrinsic Value, Outstanding | $	$ 983	$ 2,856
Aggregate Intrinsic Value, Shares exercisable | $	788
Aggregate Intrinsic Value, Vested and expected to vest | $	$ 983