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Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 3 Months Ended
Jan. 01, 2022
Jul. 31, 2020
Apr. 30, 2020
Mar. 31, 2022
Mar. 31, 2021
Jan. 01, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Reduction in exercise price of each warrant from public offering price for pre-funded warrants per share     $ 0.0001      
Maximum ownership percentage for outstanding warrants to purchase shares of common stock to be exercised     4.99%      
Period after notice received by company maximum ownership percentage to be effective description       The revised Maximum Ownership Percentage would be effective 61 days after the notice is received by the Company    
Maximum ownership percentage for outstanding warrants To purchase shares of common stock to be exercised to certain holders.     9.99%      
2016 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Maximum annual percentage increase 4.00%          
Additional number of shares available for issuance 1,974,205         1,918,363
Common stock available for future issuance       1,374,653    
2016 Equity Incentive Plan | Restricted Stock Units RSU            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares, granted to employees   228,200        
RSUs outstanding       190,000    
Total stock-based compensation expense       $ 1.5    
2016 Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock option to purchase an aggregate of common stock shares       64,743 38,008  
Aggregate cash proceeds from sale of shares       $ 0.2 $ 0.2  
Maximum [Member]            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Maximum ownership percentage for outstanding warrants to purchase shares of common stock to be exercised     19.99%