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Long-Term Debt - Additional Information (Details)
12 Months Ended
Oct. 26, 2018
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
Payment
shares
Dec. 31, 2020
USD ($)
shares
Debt Instrument [Line Items]      
Long-term debt net of debt discount and issuance costs   $ 833,000  
Loan Agreement | Silicon Valley Bank      
Debt Instrument [Line Items]      
Debt instrument, maximum borrowing capacity $ 10,000,000.0    
Debt instrument, floating interest rate percentage 6.50%    
Debt instrument, interest rate increase percentage 5.00%    
Debt instrument, maturity date May 01, 2022    
Debt instrument, final principal payment description   a final payment equal to the original principal amount of the Term Loans multiplied by 5.0% is due on the earliest to occur of (a) May 1, 2022 or (b) the prepayment in full of the term loan advances.  
Debt instrument, final payment percentage of original principal   5.00%  
Number of shares to be called by warrants issued | shares 10,232    
Warrants, exercise price | $ / shares $ 1.04    
Warrants, term 10 years    
Common stock warrants outstanding | shares   0 0
Debt issuance cost final payment recognized as additional interest expense   $ 300,000  
Accrued liabilities related to accretion of final payment included in long-term debt   $ 200,000 $ 200,000
Loan Agreement | Silicon Valley Bank | Maximum      
Debt Instrument [Line Items]      
Fair value of warrants $ 100,000    
Loan Agreement | Silicon Valley Bank | If Prepayment Made Prior to October 26, 2019      
Debt Instrument [Line Items]      
Debt instrument, percentage of prepayment premium   3.00%  
Loan Agreement | Silicon Valley Bank | If Prepayment Made After October 26, 2019 But Before October 26, 2020      
Debt Instrument [Line Items]      
Debt instrument, percentage of prepayment premium   2.00%  
Loan Agreement | Silicon Valley Bank | If Prepayment Made After October 26, 2020 But Before May 1, 2020      
Debt Instrument [Line Items]      
Debt instrument, percentage of prepayment premium   1.00%  
Loan Agreement | Silicon Valley Bank | Greater above Prime Rate      
Debt Instrument [Line Items]      
Debt instrument, floating interest rate percentage 1.50%    
Loan Agreement | Silicon Valley Bank | Term A Loan      
Debt Instrument [Line Items]      
Debt instrument, current borrowing capacity $ 5,000,000.0    
Debt instrument, principal repayments commencing date   Dec. 01, 2019  
Debt instrument, number of monthly principal payments | Payment   30  
Long-term debt net of debt discount and issuance costs   $ 1,100,000  
Debt instrument, term   3 years 7 months 6 days  
Debt issuance costs   $ 100,000  
Loan Agreement | Silicon Valley Bank | Term A Loan | Maximum      
Debt Instrument [Line Items]      
Amortization of debt discount   $ 100,000  
Loan Agreement | Silicon Valley Bank | Term Loans      
Debt Instrument [Line Items]      
Debt instrument, remaining borrowing capacity, no longer available for draw $ 5,000,000.0