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Indebtedness - Additional Information (Details)
12 Months Ended
Sep. 17, 2021
USD ($)
Jul. 24, 2020
USD ($)
Sep. 30, 2019
USD ($)
Tranche
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Sep. 16, 2021
USD ($)
Debt Instrument [Line Items]            
Advanced amount under term loan         $ 15,000,000  
Interest expense       $ 2,696,000 1,906,000  
Loan Agreement | Term Loan | Hercules            
Debt Instrument [Line Items]            
Aggregate principal amount       5,000,000.0   $ 75,000,000.0
Number of tranches | Tranche     4      
Advanced amount under term loan     $ 25,000,000.0      
Debt instrument, interest only payment end date     Nov. 01, 2022      
Debt instrument repayment end date     Oct. 01, 2024      
Debt instrument, end of term payment charge on funded amount percentage     5.50%      
Loan carrying value   $ 15,000,000.0 $ 9,500,000 25,400,000 25,000,000.0  
Loan Agreement | Term Loan | Hercules | Maximum            
Debt Instrument [Line Items]            
Aggregate principal amount     75,000,000.0      
Loan Agreement | Term Loan | Hercules | Second Tranche            
Debt Instrument [Line Items]            
Aggregate principal amount     10,000,000.0      
Loan Agreement | Term Loan | Hercules | First Tranche            
Debt Instrument [Line Items]            
Advanced amount under term loan   $ 15,000,000.0 10,000,000      
Amount payable upon any prepayment or repayment     1,400,000      
Loan Agreement | Term Loan | Hercules | Third Tranche            
Debt Instrument [Line Items]            
Aggregate principal amount     10,000,000.0      
Loan Agreement | Term Loan | Hercules | Fourth Tranche            
Debt Instrument [Line Items]            
Aggregate principal amount     $ 30,000,000.0      
Amended Loan Agreement | Term Loan | Hercules            
Debt Instrument [Line Items]            
Debt instrument, covenants, obligated to maintain account cover amount percentage     110.00%      
Interest expense       $ 2,700,000 $ 1,900,000  
Amended Loan Agreement | Term Loan | Hercules | Second Tranche            
Debt Instrument [Line Items]            
Interest rate     1.50%      
Amended Loan Agreement | Term Loan | Hercules | First Tranche            
Debt Instrument [Line Items]            
Interest rate     2.00%      
Amended Loan Agreement | Term Loan | Hercules | Third Tranche            
Debt Instrument [Line Items]            
Interest rate     1.00%      
Amended Loan Agreement | Amended Term Loan | Hercules            
Debt Instrument [Line Items]            
Aggregate principal amount $ 85,000,000.0          
Debt instrument, interest rate terms       Advances under the Amended Term Loan Facility bear interest at a rate equal to the greater of (i) 8.25% plus the Prime Rate (as reported in The Wall Street Journal) less 3.25%, and (ii) 8.25%.    
Interest rate 8.25%          
Debt instrument, interest only payment end date Oct. 01, 2023          
Debt instrument, interest only payment extendable end date Oct. 01, 2024          
Debt instrument repayment end date Oct. 01, 2025          
Debt instrument, end of term payment charge on funded amount percentage 5.50%          
Amended Loan Agreement | Amended Term Loan | Hercules | Prime Rate            
Debt Instrument [Line Items]            
Variable interest rate 8.25%          
Reduced from variable interest rate 3.25%          
Amended Loan Agreement | Amended Term Loan | Hercules | Third Tranche            
Debt Instrument [Line Items]            
Aggregate principal amount $ 10,000,000.0          
Amended Loan Agreement | Amended Term Loan | Hercules | Fourth Tranche            
Debt Instrument [Line Items]            
Aggregate principal amount 30,000,000.0          
Amended Loan Agreement | Amended Term Loan | Hercules | Fifth Tranche            
Debt Instrument [Line Items]            
Debt instrument, available in minimum draws 5,000,000.0          
Amended Loan Agreement | Amended Term Loan | Hercules | Fifth Tranche | Maximum            
Debt Instrument [Line Items]            
Aggregate principal amount $ 20,000,000.0