Notes Payable - Schedule of Future Maturities of Term Loans, Including Final Payment Fee (Details) $ in Thousands	Mar. 31, 2022 USD ($)
Debt Disclosure [Abstract]
Remainder of 2022	$ 1,429
Year ending December 31, 2023	5,714
Year ending December 31, 2024	3,357
Debt instrument carrying amount including unaccreted liability for final payment fee	10,500
Unaccreted balance for Final Payment fee on Term Loans	(161)
Less: unamortized discount	(112)
Total	10,227
Less current portion	(2,857)
Noncurrent portion	$ 7,370

Debt instrument carrying amount including unaccreted liability for final payment fee.

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Debt instrument carrying amount including unaccreted liability for final payment fee maturities repayments of principal in year three.

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Debt instrument carrying amount including unaccreted liability for final payment fee maturities repayments of principal in year two.

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Debt instrument carrying amount including unaccreted liability for final payment fee maturities repayments of principal remainder of fiscal year.

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Unaccreted liability for final payment fee.

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Amount, after accumulated amortization, of debt discount.

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Amount, after unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but not limited to, notes payable, bonds payable, debentures, mortgage loans and commercial paper. Excludes capital lease obligations.

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