Restructuring Charges - Schedule of Components of Restructuring Charges (Details) - USD ($)		12 Months Ended
	Nov. 29, 2019	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Restructuring Cost And Reserve [Line Items]
Restructuring charges, Incurred during the year ended December 31, 2019	$ 600,000	$ 0	$ 0	$ 605,000
Restructuring charges, Amount paid through December 31, 2019				(232,000)
Restructuring charges, Remaining liability at December 31, 2019				373,000
Employee Severance, Bonus and Other
Restructuring Cost And Reserve [Line Items]
Restructuring charges, Incurred during the year ended December 31, 2019				605,000
Restructuring charges, Amount paid through December 31, 2019				(232,000)
Restructuring charges, Remaining liability at December 31, 2019				$ 373,000