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Debt Commitments and Contingencies - Additional Information (Details) - USD ($)		1 Months Ended		12 Months Ended
	Jul. 09, 2021	Apr. 30, 2020	Jan. 30, 2020	Dec. 31, 2021	Dec. 31, 2020
Line Of Credit Facility [Line Items]
Short-term debt					$ 15,753,000
Loss on debt extinguishment				$ (272,000)
Proceeds from loan					4,000,000
Paycheck Protection Program
Line Of Credit Facility [Line Items]
Proceeds from loan		$ 4,800,000
Amended and Restated Loan and Security Agreement \| Hercules Capital, Inc \| Series B Convertible Preferred Stock
Line Of Credit Facility [Line Items]
Warrants to purchase shares of Series B Convertible Preferred Stock			87,784
Strike price			$ 5.13
Warrants agreement expiration date			2025-05
Amended and Restated Loan and Security Agreement \| Hercules Capital, Inc \| Term Loan
Line Of Credit Facility [Line Items]
Loan agreement maximum borrowing capacity			$ 15,000,000
Interest rate terms				Prior to its repayment, the term loan accrued interest at the greater of (i) 8.7% per annum or (ii) 8.7% per annum plus the prime rate minus 4.75% per annum.
Interest rate				8.70%
Maturity date				May 01, 2022
Short-term debt					$ 15,800,000
Debt extinguishment amount paid	$ 16,100,000
Loss on debt extinguishment	$ 300,000
Amended and Restated Loan and Security Agreement \| Hercules Capital, Inc \| Term Loan \| Prime Rate
Line Of Credit Facility [Line Items]
Variable interest rate				4.75%
Amended and Restated Loan and Security Agreement \| Hercules Capital, Inc \| Term Loan \| Maximum
Line Of Credit Facility [Line Items]
Debt instrument fee amount				$ 1,200,000
Amended and Restated Loan and Security Agreement \| Hercules Capital, Inc \| If Repaid Prior to November 1, 2021
Line Of Credit Facility [Line Items]
Debt instrument fee amount				$ 900,000