Income Taxes - Reconciliation on Income Taxes Amount Computed by Applying Statutory Federal Income Tax Rate to Net Loss (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Income tax benefit at statutory rates	$ (18,076,000)	$ (19,186,000)
State income tax, net of federal benefit	(1,005,000)	(3,929,000)
Permanent items	592,000	749,000
Research and development credits	(1,661,000)	(1,264,000)
Other	(515,000)	231,000
Change in valuation allowance	20,665,000	14,965,000
Change in fair value of derivative liabilities		8,434,000
Income tax expense	$ 0	$ 0