Term Loans - Additional Information (Detail)			1 Months Ended	3 Months Ended			6 Months Ended
	Feb. 22, 2022	Aug. 31, 2018 USD ($)	Mar. 31, 2021 USD ($) Tranche	Jun. 30, 2022 USD ($) Tranche Warrant $ / shares shares	Jun. 30, 2021 USD ($)	Mar. 31, 2021 USD ($) Tranche	Jun. 30, 2022 USD ($) Tranche Warrant $ / shares shares	Jun. 30, 2021 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 shares
Debt Instrument [Line Items]
Number of tranches | Tranche				3			3
Ceiling limit of maximum percentage amount to be paid on aggregate principal amount		5.50%
Debt Instrument, Maturity Date		Feb. 01, 2023
Number of warrants | Warrant				2			2
Effective interest rate										1.50%
Outstanding principal, Term loans				$ 18,911,000			$ 18,911,000
Accrued final payment on term loans, non-current									$ 1,100,000
Loss on debt extinguishment					$ 0		0	$ (492,000)
Issuance of term loans, net of issuance costs							0	19,835,000
Extended cut off date before which the interest on term loan shall be paid	Mar. 01, 2024
Long term debt net of unamortized debt discounts				$ 20,000,000			$ 20,000,000
Prime Rate [Member]
Debt Instrument [Line Items]
Effective interest rate										6.50%
Series C Preferred Stock [Member]
Debt Instrument [Line Items]
Exercise price of warrants | $ / shares				$ 5.33			$ 5.33
Number of shares subject to each warrant | shares				46,970			46,970
Debt Instrument, Term Loan A [Member]
Debt Instrument [Line Items]
Effective interest rate										9.10%
Debt Instrument, Term Loan B [Member]
Debt Instrument [Line Items]
Effective interest rate										9.00%
Debt Instrument Term Loan A and B [Member]
Debt Instrument [Line Items]
Number of shares subject to each warrant | shares										35,227
Loan and Security Agreement [Member]
Debt Instrument [Line Items]
Line of credit facility, Maximum borrowing amount		$ 20,000,000.0
Line of credit facility, Interest rate description		The Term Loans had an interest-only period that commenced upon the borrowing of each tranche of the Term Loans with interest due and payable upon the first day of each month. The interest-only period ended August 31, 2020.
Loan and Security Agreement [Member] | Less Than One Year From The Date Of Loan Agreement [Member]
Debt Instrument [Line Items]
Prepayment fee as a percentage of the outstanding principal			3.00%
Loan and Security Agreement [Member] | Greater Than One Year And Less Than Two Years From The Date Of Loan Agreement [Member]
Debt Instrument [Line Items]
Prepayment fee as a percentage of the outstanding principal			2.00%
Loan and Security Agreement [Member] | Later Than Two Years And Not Later Than Three Years From The Date Of Loan Agreement [Member]
Debt Instrument [Line Items]
Prepayment fee as a percentage of the outstanding principal			1.00%
Loan and Security Agreement [Member] | Later Than Three Years From The Date Of Loan Agreement [Member]
Debt Instrument [Line Items]
Prepayment fee as a percentage of the outstanding principal			0.00%
Loan and Security Agreement [Member] | Silicon Valley Bank [Member]
Debt Instrument [Line Items]
Debt Instrument, Discount				$ 200,000			$ 200,000
Amortization of debt discount				$ 0	0		$ 0	200,000
Fee Paid For Modification Of Term Loans			$ 37,000			$ 37,000
Loss on debt extinguishment						500,000
Prepayment fees paid in respect of term loan						$ 100,000
Loan and Security Agreement [Member] | Oxford Finance LLC [Member]
Debt Instrument [Line Items]
Number of tranches | Tranche			2			2
Debt instrument, face amount			$ 30,000,000.0			$ 30,000,000.0
Number of days within which a portion of term loan will be available subject to achievement of milestone	45 days
Long term debt variable interest rate percentage			7.70%			7.70%
Loan and Security Agreement [Member] | Prime Rate [Member] | Oxford Finance LLC [Member]
Debt Instrument [Line Items]
Debt instrument variable interest rate spread			4.45%
Loan and Security Agreement [Member] | Warrants To Purchase Series C Redeemable Convertible Stock | Oxford Finance LLC [Member]
Debt Instrument [Line Items]
Exercise price of warrants | $ / shares				$ 5.33			$ 5.33
Number of shares subject to each warrant | shares				37,575			37,575
Loan and Security Agreement [Member] | Common Stock [Member] | Silicon Valley Bank [Member]
Debt Instrument [Line Items]
Common stock up on conversion | shares							16,477
Loan and Security Agreement [Member] | Common Stock [Member] | Oxford Finance LLC [Member]
Debt Instrument [Line Items]
Common stock up on conversion | shares							17,575
Loan and Security Agreement [Member] | Debt Instrument, Term Loan A [Member]
Debt Instrument [Line Items]
Line of credit facility, Current borrowing amount		$ 7,500,000
Loan and Security Agreement [Member] | Debt Instrument, Term Loan A [Member] | Oxford Finance LLC [Member]
Debt Instrument [Line Items]
Debt Instrument, Discount				$ 1,600,000			$ 1,600,000
Outstanding principal, Term loans			$ 20,000,000.0	20,000,000.0		$ 20,000,000.0	20,000,000.0
Amortization of debt discount				500,000	$ 500,000		1,000,000.0	$ 500,000
Issuance of term loans, net of issuance costs			$ 12,500,000
Debt Instrument, Description	In connection with the amendment, the maturity of the Term A Loans was extended from March 18, 2026 to February 1, 2027
Term loan final payment as a percentage of the amount funded			5.50%
Long term debt net of unamortized debt discounts				$ 18,900,000			$ 18,900,000
Loan and Security Agreement [Member] | Debt Instrument, Term Loan B [Member]
Debt Instrument [Line Items]
Line of credit facility, Current borrowing amount		7,500,000
Loan and Security Agreement [Member] | Debt Instrument, Term Loan B [Member] | Less Than One Year From The Date Of Loan Agreement [Member]
Debt Instrument [Line Items]
Loan initiation date	Jun. 30, 2023
Loan and Security Agreement [Member] | Debt Instrument, Term Loan B [Member] | Oxford Finance LLC [Member]
Debt Instrument [Line Items]
Debt instrument, face amount			$ 10,000,000.0			10,000,000.0
Issuance of term loans, net of issuance costs			$ 7,400,000
Loan and Security Agreement [Member] | Debt Instrument, Term Loan B [Member] | Oxford Finance LLC [Member] | Greater Than One Year And Less Than Two Years From The Date Of Loan Agreement [Member]
Debt Instrument [Line Items]
Loan initiation date	Mar. 01, 2024
Loan and Security Agreement [Member] | Debt Instrument, Term Loan B [Member] | Oxford Finance LLC [Member] | Later Than Two Years And Not Later Than Three Years From The Date Of Loan Agreement [Member]
Debt Instrument [Line Items]
Loan initiation date	Mar. 01, 2025
Loan and Security Agreement [Member] | Debt Instrument, Term Loan C [Member]
Debt Instrument [Line Items]
Line of credit facility, Current borrowing amount		$ 5,000,000.0
Loan and Security Agreement [Member] | Debt Instrument Term Loan A and B [Member] | Silicon Valley Bank [Member]
Debt Instrument [Line Items]
Repayment of term loans						11,500,000
Term loan final payment						$ 800,000
Term loan final payment as a percentage of the original principal amount						1.00%