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Warrants - Additional Information (Details) - $ / shares
Dec. 23, 2021
Sep. 18, 2020
Sep. 01, 2020
Jun. 14, 2019
Jun. 08, 2019
May 28, 2019
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Class Of Warrant Or Right [Line Items]                  
Class of warrant or right, exercised during period 48,809 83,367 255,307 64,440 64,440 380,000      
Class of warrant or right, outstanding             1,439,483 1,488,292 1,826,966
Number of shares withheld in an exercise to purchase warrants as payment for the exercise 149 354   49          
Warrants Transactions                  
Class Of Warrant Or Right [Line Items]                  
Class of warrant or right, exercise price per share             $ 0.01    
Class of warrant or right, number of securities called by warrants or rights             2,560,456    
Class of warrant or right, outstanding             1,439,483