Debt - Additional Information (Details) - USD ($)	1 Months Ended	12 Months Ended
	Mar. 31, 2019	Dec. 31, 2021	Dec. 31, 2020	Oct. 31, 2019	May 31, 2019
SVB and WestRiver
Debt Instrument [Line Items]
Expiration term	10 years
SVB and WestRiver | Tranche 1
Debt Instrument [Line Items]
Number of warrants issued (in shares)	37,606
Exercise price of warrant (in usd per share)	$ 4.73
SVB and WestRiver | Tranche 2
Debt Instrument [Line Items]
Number of warrants issued (in shares)					12,130
Exercise price of warrant (in usd per share)					$ 10.86
SVB and WestRiver | Tranche 3
Debt Instrument [Line Items]
Number of warrants issued (in shares)				24,262
Exercise price of warrant (in usd per share)				$ 3.88
Silicon Valley Bank
Debt Instrument [Line Items]
Percentage of final payment on principal amount of refinanced advances	6.00%
Final payment liability		$ 800,000
Silicon Valley Bank | Tranche 1, 2, and 3
Debt Instrument [Line Items]
Interest rate	6.50%
Amortization period of payments of principal plus interest amounts	33 months
Term Loan | SVB and WestRiver
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity	$ 15,000,000
Term Loan | SVB and WestRiver | Tranche 1
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity	7,500,000
Term Loan | Silicon Valley Bank
Debt Instrument [Line Items]
Interest expense		900,000	$ 1,400,000
Term Loan | Silicon Valley Bank | Tranche 1, 2, and 3
Debt Instrument [Line Items]
Debt discount		$ 400,000
Term Loan | Silicon Valley Bank | Tranche 2
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity	2,500,000
Term Loan | Silicon Valley Bank | Tranche 3
Debt Instrument [Line Items]
Line of credit facility, maximum borrowing capacity	$ 5,000,000
Prime Rate | Silicon Valley Bank | Tranche 1, 2, and 3
Debt Instrument [Line Items]
Interest rate, percentage point added to reference rate	1.00%