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Stockholders' Equity - Additional Information (Details)
$ / shares in Units, $ in Millions
6 Months Ended
Feb. 03, 2021
USD ($)
Investor
$ / shares
shares
Jul. 14, 2020
USD ($)
Mar. 27, 2020
USD ($)
shares
Jun. 30, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Common stock, shares authorized | shares       200,000,000 200,000,000
Common stock, par value | $ / shares       $ 0.0001 $ 0.0001
Preferred stock, shares authorized | shares       10,000,000  
Preferred stock, par value | $ / shares       $ 0.0001  
Common stock, shares outstanding | shares       34,352,084 29,455,668
Unamortized stock compensation for stock options       $ 9.7  
Weighted-average recognition period of stock option unamortized       2 years 9 months 18 days  
Equity Unit Purchase Agreements          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of Institutional Investors | Investor 2        
Shares upon exercise of warrants | shares 1,285,713        
Gross proceeds from issuance of common stock $ 30.0        
Proceeds from issuance of common stock $ 29.9        
Common Stock | Purchase Agreement | Lincoln Park          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Issuance of common stock, Shares | shares     65,374 0  
Stock issuance costs     $ 0.4    
Estimated maximum amount of common stock issuable     $ 15.0    
Term of purchase agreement     36 months    
Fair market value of commitment shares     $ 0.2    
Common Stock | Equity Unit Purchase Agreements          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Issuance of common stock, Shares | shares 4,285,710        
Common Stock | 2020 ATM Facility          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Issuance of common stock, Shares | shares       0  
Common Stock | 2020 ATM Facility | Open Market Sales Agreement          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Issuance of common stock, Shares | shares       788,685  
Gross proceeds from issuance of common stock       $ 10.4  
Proceeds from issuance of common stock       10.0  
Common stock shares maximum aggregate offering price   $ 150.0      
Stock issuance costs       $ 0.4  
Common Stock Warrants | Equity Unit Purchase Agreements          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Sale of stock, price per share | $ / shares $ 25.00        
Gross proceeds from issuance of common stock $ 25.0        
Warrants exercisable, per share exercise price | $ / shares $ 14.00