Redeemable Convertible Preferred Stock (Details) $ in Millions		1 Months Ended			12 Months Ended
	Nov. 01, 2018 shares	May 31, 2020 shares	Apr. 30, 2020 shares	Nov. 30, 2018 USD ($) shares	Dec. 31, 2021 USD ($) installment shares	Dec. 31, 2020 shares	Dec. 31, 2019 USD ($)
Series C Redeemable Convertible Preferred Stock
Redeemable preferred stock
Number of shares of common stock issued on conversion of preferred stock		1,858,256	923,819		0	0
Number of preferred shares that had been converted to common stock		1,750	870
Series E Redeemable Convertible Preferred Stock
Redeemable preferred stock
Shares issued (in shares)				35,000
Net proceeds from public offering | $				$ 30.9
Number of monthly installments | installment					13
Redemption value for each installment | $					$ 2.7
Preferred stock, dividends | $							$ 1.8
Series E Preferred Stock
Redeemable preferred stock
Shares issued (in shares)	35,000
Shares outstanding (in shares)					0	0
Number of preferred shares that had been converted to common stock						30,462