Stockholders' Equity - Additional Information (Details) - USD ($)	1 Months Ended			12 Months Ended
	Apr. 30, 2021	Oct. 31, 2019	Jun. 30, 2014	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Class Of Stock [Line Items]
Proceeds from issuance of common stock		$ 162,200,000				$ 162,151,000
Share-based Payment Arrangement, Option
Class Of Stock [Line Items]
Share-based compensation arrangement by share-based payment award, options, forfeitures in period				806,244
Share-based compensation arrangements by share-based payment award, options, forfeitures in period, weighted average exercise price				$ 20.51
Share-based compensation arrangement by share-based payment award, options, expirations in period				846,350
Share-based compensation arrangements by share-based payment award, options, expirations in period, weighted average exercise price				$ 22.81
Pre-funded Warrants
Class Of Stock [Line Items]
Class of warrant or right, number of securities called by warrants or rights			600,000
Class of warrant or right, exercise price of warrants or rights			$ 0.01
Class of warrant or right, expiration date			Jun. 30, 2021
Class of warrant or right, exercised during period	195,574				267,870	132,130
Proceeds from issuance of warrants	$ 0				$ 2,679,000	$ 1,321,000
Class of warrant or right, outstanding				0
Common Stock
Class Of Stock [Line Items]
Number of shares issued		9,900,000				9,857,000
Share price		$ 17.50
Payments of stock issuance costs		$ 10,300,000
Issuance of common stock on exercise of warrants (in shares)				195,000	267,000	132,000
Common Stock | Pre-funded Warrants
Class Of Stock [Line Items]
Issuance of common stock on exercise of warrants (in shares)	195,461				267,870	132,130