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Debt - MidCap Credit Agreements - Additional Information (Details) - USD ($)
3 Months Ended
May 06, 2021
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2021
Debt Instrument [Line Items]        
Total debt issuance costs   $ 2,951,000   $ 2,616,000
Amortization expense   71,000 $ 17,000  
MidCap Credit Agreements        
Debt Instrument [Line Items]        
Expiration date May 01, 2026      
Total debt issuance costs   2,799,000    
MidCap Credit Agreements | Interest Expense        
Debt Instrument [Line Items]        
Amortization expense   $ 71,000    
MidCap Credit Agreements | LIBOR        
Debt Instrument [Line Items]        
Variable interest rate 6.00%      
MidCap Credit Agreements | Mid Cap Financial Trust        
Debt Instrument [Line Items]        
Maximum principal amount $ 70,000,000      
MidCap Credit Agreements | Mid Cap Financial Trust | Term Loan        
Debt Instrument [Line Items]        
Maximum principal amount 40,000,000      
MidCap Credit Agreements | Mid Cap Financial Trust | First Commitment        
Debt Instrument [Line Items]        
Maximum principal amount 10,000,000      
MidCap Credit Agreements | Mid Cap Financial Trust | Second Commitment        
Debt Instrument [Line Items]        
Maximum principal amount 30,000,000      
MidCap Credit Agreements | Mid Cap Financial Trust | Revolving Loan        
Debt Instrument [Line Items]        
Maximum principal amount $ 30,000,000      
MidCap Revolving Loan        
Debt Instrument [Line Items]        
Expiration date May 01, 2026      
MidCap Revolving Loan | LIBOR        
Debt Instrument [Line Items]        
Variable interest rate 3.00%