Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Line Items]
Increase in valuation allowance	$ 14,400,000	$ 12,500,000
Interest expense or penalties related to unrecognized tax benefits	0
CARES Act
Income Tax Disclosure [Line Items]
Employee retention tax credits amount		400,000
Federal
Income Tax Disclosure [Line Items]
Operating loss carryforwards	$ 233,100,000	177,200,000
Operating loss carryforwards expiration beginning year	2035
Uncertain tax positions reserves	$ 1,500,000
Uncertain tax positions	1,400,000
Federal | Research and Development
Income Tax Disclosure [Line Items]
Tax credit carryforwards amount	6,100,000	4,800,000
State
Income Tax Disclosure [Line Items]
Operating loss carryforwards	$ 12,100,000	12,100,000
Operating loss carryforwards expiration beginning year	2035
Uncertain tax positions reserves	$ 1,500,000
Uncertain tax positions	1,400,000
State | Research and Development
Income Tax Disclosure [Line Items]
Tax credit carryforwards amount	$ 5,500,000	$ 4,300,000