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Stock-Based Compensation and Employee Benefit Plans - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
May 09, 2019
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award      
Unrecognized compensation cost   $ 4.5  
Weighted average vesting period for non-vested option awards, in years   2 years 9 months 18 days  
Defined contribution   $ 0.3 $ 0.2
Discretionary contribution amount   $ 0.1 $ 0.1
2009 Equity Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award      
Plan term   10 years  
Evergreen increase 3.00%    
Number of shares remained available for issuance (in shares)   455,532  
2010 Non-Employee Directors' Stock Option Plan      
Share-based Compensation Arrangement by Share-based Payment Award      
Number of shares remained available for issuance (in shares)   5,624  
2010 Employee Stock Purchase Plan      
Share-based Compensation Arrangement by Share-based Payment Award      
Number of shares remained available for issuance (in shares)   60,000  
2010 Employee Stock Purchase Plan | ESPP      
Share-based Compensation Arrangement by Share-based Payment Award      
Common Stock, Increase in Capital Shares Reserved for Future Issuance   60,000