Long-term Debt - OrbiMed Term Loan (related party) (Details)	3 Months Ended
Mar. 31, 2022 USD ($) tranche	Mar. 31, 2021 USD ($)
OrbiMed Term Loans (related party)
Debt
Number of Tranches \| tranche	2
Minimum Cash Balance	$ 2,000,000.0
Interest due to unpaid obligation	3.00%
Interest Rate (as a percent)	7.75%
Debt Instrument, Interest Rate, Effective Percentage	9.75%
Number of Installment	60 months
Exit fee (as a percent)	10.00%
Administration Fees	$ 10,000
Debt issuance costs	300,000
End of term charge	3,000,000.0
Interest Expenses	900,000	$ 900,000
Amortization of debt issuance costs	$ 200,000	$ 200,000
OrbiMed Term Loans (related party) \| Prior to second anniversary
Debt
Percentage of prepayment penalty on prepaid principal amount	10.00%
OrbiMed Term Loans (related party) \| After second anniversary but prior to third anniversary
Debt
Percentage of prepayment penalty on prepaid principal amount	5.00%
OrbiMed Term Loans (related party) \| After third anniversary
Debt
Percentage of prepayment penalty on prepaid principal amount	2.50%
OrbiMed Term Loans (related party) \| LIBOR
Debt
Variable Interest Rate (as a percent)	2.00%
OrbiMed Term Loans (related party) \| Maximum
Debt
Debt Amount	$ 35,000,000.0
Tranche One
Debt
Debt Amount	30,000,000.0
Tranche Two
Debt
Debt Amount	$ 5,000,000.0

The term of debt instrument interest payment.

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Percentage of penalty to be paid on the event of default in meeting the obligation.

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The amount of cash required to be maintained as part of security in relation to debt.

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Number of tranches of debt obtained.

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Percentage of exit fee to be paid on the principal amount at the time of maturity or prepayment.

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Percentage of penalty to be paid on principal amount of debt.

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The amount of administrative fee to be paid on last day of each quarter.

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Amount of amortization expense attributable to debt issuance costs.

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Percentage points added to the reference rate to compute the variable rate on the debt instrument.

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Face (par) amount of debt instrument at time of issuance.

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Effective interest rate for the funds borrowed under the debt agreement considering interest compounding and original issue discount or premium.

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Contractual interest rate for funds borrowed, under the debt agreement.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Amount, after accumulated amortization, of debt premium.

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Amount, after accumulated amortization, of debt issuance costs. Includes, but is not limited to, legal, accounting, underwriting, printing, and registration costs.

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Amount of the cost of borrowed funds accounted for as interest expense for debt.

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