Warrants - Schedule of Key Terms of Placement Warrants (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Warrants exercised (in shares)	119,420	0
Warrants outstanding (in shares)	2,036,733	2,156,153
2017 Placement Warrants Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Term	7 years
Exercise price (USD per share)	$ 3.17
Warrants exercised (in shares)	118,868	0
Warrants outstanding (in shares)	1,500,022	1,618,890
2016 Placement Warrants Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Term	7 years
Exercise price (USD per share)	$ 2.95
Warrants exercised (in shares)	552	0
Warrants outstanding (in shares)	536,711	537,263