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Term Loan - Additional Information (Details)
1 Months Ended 9 Months Ended
Nov. 30, 2020
shares
Sep. 30, 2019
USD ($)
$ / shares
shares
Sep. 30, 2022
USD ($)
Installment
Debt Instrument [Line Items]      
Aggregate principal amount     $ 5,623,000
Silicon Valley Bank      
Debt Instrument [Line Items]      
Debt liquidity covenant     If the Company does not comply with the foregoing liquidity covenant, a springing cash pledge will occur, pursuant to which the Company must maintain a cash secured blocked account with SVB with a cash balance in an amount equal to the outstanding SVB obligations at such time (excluding Bank Services (as defined in the Loan Agreement)). The foregoing cash collateral requirement will terminate upon a certain additional equity raise, which must occur on or before September 30, 2024.
Liquidity covenant amount     Further, in the event that the Second Tranche becomes available and the Company obtains an advance thereunder, the Company will be required to comply with a liquidity covenant of at least $50.0 million at all times.
Term Loan | Silicon Valley Bank      
Debt Instrument [Line Items]      
Aggregate principal amount   $ 4,500,000  
Amount of total debt available     $ 30,000,000.0
Debt instrument, maturity date     Jan. 01, 2026
Number of Monthly Installments | Installment     37
End of term payment, percentage     4.00%
Debt issuance costs     $ 4,900
Unamortized debt discount and issuance costs     $ 100,000
Term Loan | Silicon Valley Bank | Warrant      
Debt Instrument [Line Items]      
Number of shares issuable upon the exercise of warrant | shares   49,609  
Warrants exercise price | $ / shares   $ 1.44  
Estimated fair value of the warrant   $ 100,000  
Term Loan | Silicon Valley Bank | Maximum      
Debt Instrument [Line Items]      
Debt instrument prepayment fee percentage     2.00%
Term Loan | Silicon Valley Bank | Minimum      
Debt Instrument [Line Items]      
Debt instrument prepayment fee percentage     1.00%
Term Loan | Common Stock | Silicon Valley Bank | Warrant      
Debt Instrument [Line Items]      
Net exercised of common stock | shares 46,358    
First Tranche Term Loan | Silicon Valley Bank      
Debt Instrument [Line Items]      
Amount of debt available under the first tranche     $ 20,000,000.0
End of term payment, percentage     6.00%
Debt issuance costs     $ 5,000.0
Second Tranche Term Loan | Silicon Valley Bank      
Debt Instrument [Line Items]      
Amount of debt available under the second tranche     $ 10,000,000.0
Debt instrument, maturity date     Dec. 31, 2022
Number of Monthly Installments | Installment     31
Second Tranche Term Loan | Silicon Valley Bank | Prime Rate      
Debt Instrument [Line Items]      
Floating interest scenario two     3.75%
Second Tranche Term Loan | Silicon Valley Bank | Prime Rate | Maximum      
Debt Instrument [Line Items]      
Floating interest scenario one     0.50%