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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Unrecognized stock-based compensation expense $ 11.1   $ 11.1  
Weighted-average recognition period     3 years 2 months 8 days  
Issuance of common stock under employee stock purchase plan, shares 13,235   13,235  
Common Stock [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Issuance of common stock under employee stock purchase plan, shares 13,235   13,235  
Stock Options [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense related to employee stock option $ 0.9 $ 0.3 $ 1.7 $ 0.5
Restricted Stock Units (RSUs) [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Unrecognized stock-based compensation expense $ 0.2   $ 0.2  
Weighted-average recognition period     11 months 1 day  
Board Of Director [Member] | 2021 Equity Incentive Plan [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Vesting period     1 year 3 years
Employees [Member] | 2021 Equity Incentive Plan [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Vesting period     4 years