Fair Value of Financial Instruments - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation [Line Items]
Warrants exercised (in shares)	119,420	0
Change in fair value of Level 3 financial liabilities	$ 2,284	$ (509)	$ (2,496)
2016 and 2017 Private Placement Warrants
Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation [Line Items]
Warrants exercised (in shares)		0
Aggregate fair value of warrants upon exercise	400
Change in fair value of Level 3 financial liabilities	$ 2,300	$ (500)	$ (2,500)