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Equity Incentive Plans and Stock-Based Compensation - Restricted Common Stock Awards Narrative (Details) - Restricted stock awards - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares granted during period (in shares) 0 0  
Aggregate fair value of restricted stock awards vested $ 33    
Total intrinsic value of outstanding unvested restricted stock awards 43    
Accrued Expenses and Other Liabilities      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Accrued expenses and other liabilities $ 1   $ 2
Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 1 year    
Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 4 years