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Debt - Additional Information (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 27, 2022
Apr. 13, 2021
Jun. 30, 2022
Jun. 30, 2022
Line of Credit Facility [Line Items]        
Loss on extinguishment of debt     $ (200,000) $ (200,000)
Warrants to Purchase Shares of Common Stock        
Line of Credit Facility [Line Items]        
Warrants to purchase shares of common stock     42,349 42,349
Term Loan        
Line of Credit Facility [Line Items]        
Loss on extinguishment of debt     $ 200,000 $ 200,000
Loan and Security Agreement | Silicon Valley Bank (SVB)        
Line of Credit Facility [Line Items]        
Financing expenses       600,000
Loan and Security Agreement | Silicon Valley Bank (SVB) | Warrants to Purchase Shares of Common Stock        
Line of Credit Facility [Line Items]        
Additional term loans   $ 10,000,000.0    
Warrants to purchase shares of common stock   42,349    
Warrants exercise price per share   $ 14.43    
Loan and Security Agreement | Silicon Valley Bank (SVB) | Maximum | Warrants to Purchase Shares of Common Stock        
Line of Credit Facility [Line Items]        
Increase in common stock shares issuable upon exercise of warrants   21,174    
Loan and Security Agreement | Silicon Valley Bank (SVB) | Term Loan        
Line of Credit Facility [Line Items]        
Term loan   $ 10,000,000.0    
Loan amount withdrawn   $ 2,500,000    
Additional term loans $ 20,000,000.0      
Debt instrument, extension draw date Feb. 29, 2024 Jun. 30, 2022    
Debt instrument, maturity date May 01, 2027 Feb. 01, 2025    
Debt floating rate percentage   5.00%    
Repaid amount   $ 2,500,000    
Final payment fee   $ 100,000    
Currently outstanding balance     $ 0 $ 0
Loan and Security Agreement | Silicon Valley Bank (SVB) | Term Loan | Clinical development        
Line of Credit Facility [Line Items]        
Additional term loans $ 10,000,000.0      
Loan and Security Agreement | Silicon Valley Bank (SVB) | Term Loan | Minimum        
Line of Credit Facility [Line Items]        
Debt floating rate percentage   4.25%    
Loan and Security Agreement | Silicon Valley Bank (SVB) | Term Loan | Minimum | Prime Rate        
Line of Credit Facility [Line Items]        
Debt instrument, basis spread rate   0.75%    
Loan and Security Agreement | Silicon Valley Bank (SVB) | Term Loan | Maximum        
Line of Credit Facility [Line Items]        
Additional term loans $ 30,000,000.0      
Debt floating rate percentage   5.00%    
Loan and Security Agreement | Silicon Valley Bank (SVB) | Term Loan | Maximum | Prime Rate        
Line of Credit Facility [Line Items]        
Debt instrument, basis spread rate   1.75%