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Stockholders' Equity - Common Stock and Private Placements (Details)
$ / shares in Units, $ in Millions
1 Months Ended
Nov. 23, 2021
shares
Jan. 22, 2020
shares
Jun. 15, 2019
shares
Jun. 30, 2022
Nov. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
$ / shares
shares
Dec. 31, 2019
$ / shares
shares
May 31, 2019
$ / shares
shares
Dec. 31, 2022
vote
shares
Oct. 31, 2022
shares
Dec. 31, 2021
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Common stock, shares outstanding (in shares)                 16,840,261   14,597,118
Common stock voting rights per share | vote                 1    
Number of years for increase of authorized shares   10 years                  
Common shares reserved for future issuance (in shares)                 13,884,000    
2021 Closing                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of shares issued (in shares)         5,892,335            
Sale of stock (usd per share) | $ / shares         $ 3.60            
Consideration received on transaction | $         $ 34.6            
Convertible preferred stock, shares issued upon conversion (in shares)         1            
2021 Closing | Directors, Executive Officers and Employees                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of shares issued (in shares)         222,222            
2021 Closing | Class A-4 Convertible Preferred Stock                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Sale of stock (usd per share) | $ / shares         $ 3.60            
Nonvoting convertible preferred stock issued (in shares)         3,725,720            
2021 Closing | Class A-4 Convertible Preferred Stock | Directors, Executive Officers and Employees                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Proceeds from issuance of preferred warrants | $         $ 0.8            
Private Placement                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of shares issued (in shares)           2,434,152   973,045      
Nonvoting convertible preferred stock issued (in shares)               415,898      
Number of securities called by warrants (in shares)           2,030,341          
Warrant exercise period               5 years      
Private Placement | Preferred Class A                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Sale of stock (usd per share) | $ / shares               $ 10.80      
Convertible preferred stock, shares issued upon conversion (in shares)               1      
Private Placement | Class A-1 Convertible Preferred Stock                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of securities called by warrants (in shares)               1,388,943      
Private Placement | Class A-3 Convertible Preferred Stock                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Nonvoting convertible preferred stock issued (in shares)           272,970          
Convertible preferred stock, shares issued upon conversion (in shares)           1          
Warrant exercise period           5 years          
Warrant exercise price (usd per share) | $ / shares           $ 7.46          
Milestone Closing | Class A-2 Convertible Preferred Stock                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Number of shares issued (in shares)             3,288,390        
Convertible preferred stock, shares issued upon conversion (in shares)             1        
Number of securities called by warrants (in shares)             3,288,390        
Warrant exercise period             5 years        
Warrant exercise price (usd per share) | $ / shares             $ 6.66        
2019 Plan                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Additional shares available (in shares)   416,686                  
Yearly authorized increase   5.00%                  
Shares available for future grant (in shares)                 394,261    
Common shares reserved for future issuance (in shares)                 1,442,135    
Prior Plans                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Granted (in shares)     0                
Common stock available for future grant under the 2021 Inducement Plan                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Shares available for future grant (in shares)                 500,000    
Common shares reserved for future issuance (in shares) 200,000               40,000 540,000  
Vesting period 4 years                    
Common stock available for future grant under the 2021 Inducement Plan | First anniversary of the effective date                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting percentage 25.00%                    
Common stock available for future grant under the 2021 Inducement Plan | Remaining 75%, vesting monthly                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Vesting period for remaining vesting rights 36 months                    
Employee Stock Purchase Plan Two Thousand Twenty Two | 2022 Employee Stock Purchase Plan                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Share-based compensation arrangement by share-based payment award, discount from market price, purchase date       15.00%              
Share-based compensation arrangement by share-based payment award, purchase price of common stock, percent       85.00%              
Share-based compensation arrangement by share-based payment award, number of shares authorized (in shares)                 129,107