Income Taxes - Reconciliation of Income Tax Benefit (Details)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
U.S. statutory income tax rate	21.00%	21.00%
State income taxes, net of federal benefit	8.00%	8.60%
Research and development credits	1.70%	2.10%
Warrant liability and contingent consideration	(1.50%)	(0.20%)
Other	(1.10%)	(1.70%)
Valuation allowance	(28.10%)	(29.90%)
Effective tax rate	0.00%	(0.10%)