Debt - Term Loan Agreements (Details) $ in Thousands		1 Months Ended	3 Months Ended		6 Months Ended
	Jun. 01, 2022 USD ($) payment	Oct. 31, 2020 USD ($)	Jun. 30, 2022 USD ($)	Jun. 30, 2021 USD ($)	Jun. 30, 2022 USD ($)	Jun. 30, 2021 USD ($)
Debt Instrument [Line Items]
Proceeds from debt financing					$ 10,000
Midcap Trust Term Loan
Debt Instrument [Line Items]
Credit facility amount		$ 37,500
Proceeds from debt financing		$ 32,500
Term of interest-only payments		36 months
Period of straight-line amortization		24 months
Effective interest rate at end of period			7.96%		7.96%
Final payment fee to be paid upon termination (as a percent)		5.00%
Prepayment fee percent , year one		3.00%
Prepayment fee percent, year two		2.00%
Prepayment fee percent, year three		1.00%
Final payment fee to be paid upon termination		$ 2,125
Amortization of final payment fee			$ 80	$ 80	$ 173	$ 161
Midcap Trust Term Loan | LIBOR
Debt Instrument [Line Items]
Interest rate variable rate spread		6.35%
Interest rate floor		1.50%
Midcap Trust Term Loan - Amendment 2
Debt Instrument [Line Items]
Credit facility amount	$ 10,000
Number of principal payment installments | payment	7
Commitment fee	$ 75
Funding percentage fee	0.25%
Midcap Trust Term Loan - Amendment 2 | SOFR
Debt Instrument [Line Items]
Interest rate variable rate spread	6.35%
Interest rate floor	1.61448%
Midcap Trust Term Loan - Tranche 3
Debt Instrument [Line Items]
Credit facility amount	$ 10,000