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Debt - MidCap Credit Agreements - Additional Information (Details) - USD ($)
3 Months Ended 6 Months Ended
May 06, 2021
Jun. 30, 2022
Jun. 30, 2022
Jun. 30, 2021
Debt Instrument [Line Items]        
Amortization expense     $ 248,000 $ 126,000
MidCap Credit Agreements        
Debt Instrument [Line Items]        
Expiration date May 01, 2026      
Debt issuance cost before amortization   $ 3,288,000 3,288,000  
MidCap Credit Agreements | Interest Expense        
Debt Instrument [Line Items]        
Amortization expense   $ 175,000 $ 248,000  
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%