Shareholders' Equity - Stock Reserved for Future Issuance (Details)	Dec. 31, 2021 shares
Class of Stock [Line Items]
Common stock reserved for future issuance (shares)	15,991,698
Employee Stock Purchase Plan
Class of Stock [Line Items]
Common stock reserved for future issuance (shares)	107,764
Warrant
Class of Stock [Line Items]
Common stock reserved for future issuance (shares)	7,605,811
Common stock options
Class of Stock [Line Items]
Common stock reserved for future issuance (shares)	4,532,252
Restricted stock units
Class of Stock [Line Items]
Common stock reserved for future issuance (shares)	1,002,178
Shares available for grant
Class of Stock [Line Items]
Common stock reserved for future issuance (shares)	2,743,693