Shelf Registration and At-the-Market Offering - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands			1 Months Ended	3 Months Ended		9 Months Ended
	Aug. 31, 2021	Jul. 15, 2021	Jul. 31, 2021	Sep. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021	Aug. 03, 2021
Registration Payment Arrangement [Line Items]
Aggregate gross sales price	$ 22,800	$ 40,000						$ 22,800
Proceeds from sales				$ 38,654			$ 41,679
Offering costs				$ 1,345			$ 1,502
Remaining shares available under Initial Registration Statement		37,000
Additional shares under Initial Registration Statement		$ 3,000
At-the-market Offering [Member]
Registration Payment Arrangement [Line Items]
Aggregate gross sales price	50,000							50,000
2019 Equity Distribution Agreement [Member]
Registration Payment Arrangement [Line Items]
Issuance of common stock (in shares)					1,186,000
Proceeds from sales					$ 3,025
Offering costs					$ 157
Weighted average sales price (in dollars per share)					$ 2.68
2021 Equity Distribution Agreement [Member]
Registration Payment Arrangement [Line Items]
Issuance of common stock (in shares)			4,316,000
Proceeds from sales			$ 38,800
Weighted average sales price (in dollars per share)			$ 9.27
Maximum [Member]
Registration Payment Arrangement [Line Items]
Aggregate gross sales price						$ 50,000		100,000
Offering costs	$ 100,000
JMP Securities [Member] | 2021 Equity Distribution Agreement [Member]
Registration Payment Arrangement [Line Items]
Aggregate gross sales price								$ 50,000
Compensation percentage		3.00%
Net of securities fees			$ 1,200
JMP Securities [Member] | 2021 Equity Distribution Agreement [Member] | At-the-market Offering [Member]
Registration Payment Arrangement [Line Items]
Issuance of common stock (in shares)			4,316,000
Proceeds from sales			$ 38,800
Offering costs			$ 1,200
JMP Securities [Member] | Maximum [Member] | 2019 Equity Distribution Agreement [Member]
Registration Payment Arrangement [Line Items]
Aggregate gross sales price						$ 13,000
Compensation percentage						5.00%
JMP Securities [Member] | Maximum [Member] | 2021 Equity Distribution Agreement [Member] | At-the-market Offering [Member]
Registration Payment Arrangement [Line Items]
Aggregate gross sales price		$ 40,000