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Equity Incentive Plans and Stock-Based Compensation Expense - Summary of RSU Activity (Details) - RSU
6 Months Ended
Jun. 30, 2022
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Shares, Unvested, Beginning Balance | shares 460,000
Shares, Granted | shares 92,200
Shares, Vested | shares (64,347)
Shares, Forfeited | shares (62,000)
Shares, Unvested, Ending Balance | shares 425,853
Weighted Average Grant Date Fair Value Per Share, Beginning Balance | $ / shares $ 2.48
Weighted Average Grant Date Fair Value Per Share, Granted | $ / shares 2.58
Weighted Average Grant Date Fair Value Per Share, Vested | $ / shares 2.49
Weighted Average Grant Date Fair Value Per Share, Forfeited | $ / shares 2.55
Weighted Average Grant Date Fair Value Per Share, Ending Balance | $ / shares $ 2.49