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Loan and Security Agreement - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Sep. 29, 2020
Jun. 05, 2020
Jun. 29, 2018
Dec. 31, 2019
Jun. 30, 2019
Dec. 31, 2021
Dec. 31, 2020
Debt Instrument [Line Items]              
Loan agreement, advanced amount             $ 10,000,000
Loan and Security Agreement | PWB              
Debt Instrument [Line Items]              
Loan agreement, maximum borrowing capacity     $ 12,000,000.0        
Loan agreement, advanced amount     10,000,000.0        
Loan agreement, remaining borrowing capacity     $ 2,000,000.0        
Loan agreement, interest rate above prime rate     5.00%        
Loan agreement, term     48 months        
Loan agreement, interest only payment period     18 months        
Expiration of interest only period     Dec. 31, 2019        
Loan agreement, number of monthly payments     30 months        
Loan agreement, frequency of payments           monthly  
Aggregate gross proceeds for success fee to be paid     $ 25,000,000        
Success fee payable     $ 300,000        
Repayment of outstanding principal balance $ 7,000,000.0            
Direct Offering              
Debt Instrument [Line Items]              
Gross proceeds from issuance of common stock   $ 15,000,000.0     $ 10,000,000.0    
At-the-Market Offering              
Debt Instrument [Line Items]              
Gross proceeds from issuance of common stock       $ 2,700,000