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Loan and Security Agreement - Additional Information (Details) - Silicon Valley Bank - Revolving Loan Facility - USD ($)
1 Months Ended
Nov. 02, 2019
Nov. 02, 2016
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2020
Jan. 31, 2020
Dec. 31, 2022
Jan. 01, 2022
Line Of Credit Facility [Line Items]                
Secured revolving loan facility outstanding             $ 0 $ 0
Loan Agreement                
Line Of Credit Facility [Line Items]                
Borrowings available under secured revolving loan facility   $ 15,000,000.0            
Loan facility, maturity date Nov. 02, 2019              
Loan Agreement, First Amendment                
Line Of Credit Facility [Line Items]                
Debt instrument, extension date           Jan. 01, 2020    
Loan Agreement, Second Amendment                
Line Of Credit Facility [Line Items]                
Borrowings available under secured revolving loan facility           $ 8,000,000.0    
Debt instrument, extension date           Jan. 01, 2021    
Loan Agreement, Third Amendment                
Line Of Credit Facility [Line Items]                
Debt instrument, extension date         Apr. 01, 2022      
Loan Agreement, Fourth Amendment                
Line Of Credit Facility [Line Items]                
Debt instrument, extension date       May 31, 2022        
Loan Agreement, Fifth Amendment                
Line Of Credit Facility [Line Items]                
Debt instrument, extension date     Dec. 01, 2023          
Wall Street Journal Prime Rate | Loan Agreement                
Line Of Credit Facility [Line Items]                
Debt instrument, basis spread on variable interest rate   1.50%