Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Tax Disclosure [Abstract]
Accumulated federal tax losses	$ 274,700,000	$ 213,500,000
Accumulated federal tax losses with indefinite life	146,000,000
Accumulated state tax losses	23,300,000	21,000,000.0
Research and development credit carry-forwards	$ 18,300,000	14,000,000.0
Federal tax losses and research and development credit carryforward expiration year	2020
Unrecognized tax benefits	$ 4,609,000	$ 3,519,000	$ 3,428,000	$ 3,159,000
Accrued interest and penalties related to unrecognized tax benefits	0
Unrecognized tax benefits, if recognized would impact the effective tax rate	$ 0

Deferred tax assets indefinite lived operating loss carryforwards domestic.

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Tax loss and tax credit carryforward expiration year.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible domestic operating loss carryforwards. Excludes state and local operating loss carryforwards.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible state and local operating loss carryforwards.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible research tax credit carryforwards.

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Amount of unrecognized tax benefits.

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Amount accrued for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return.

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The total amount of unrecognized tax benefits that, if recognized, would affect the effective tax rate.

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