Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
U.S. statutory tax rate	21.00%	21.00%	21.00%
Operating loss carryforwards, domestic	$ 243,800,000
Operating loss carryforwards domestic prior year	195,400,000
Deferred tax assets operating loss carryforwards domestic to future period	$ 48,400,000
Operating loss carryforwards, expiration period	2036
State credit carryforwards	$ 113,800,000
Net operating loss expiration year	2036
Operating loss carryforwards, foreign	$ 26,000,000.0
Research and development tax credit carryforwards	$ 6,800,000
Tax credits begin to expiration year	2034
Increase in valuation allowance	$ 29,200,000
Increase in valuation allowance for IPO costs booked to equity	$ 400,000
Tax years remain open to examination	2018 2019 2020 2021
Unrecognized tax benefit	$ 396,000
Material interest or penalties	0	$ 0
Unrecognized tax benefits, penalties and interest	$ 0	$ 0