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Borrowings - Narrative (Details) - USD ($) |  |  |  |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | --- | ---
Feb. 23, 2022 | Oct. 09, 2020 | Dec. 03, 2019 | May 16, 2018 | Nov. 30, 2021 | Dec. 31, 2027 | Dec. 31, 2026 | Dec. 31, 2025 | Dec. 31, 2024 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Term Loans |  |  |  |  |  |  |  |  |  |  |  |
Principal repayment |  |  |  |  |  |  |  |  |  | $ 19,444,000 | $ 0 | $ 0
Principal outstanding |  |  |  |  |  |  |  |  |  | $ 33,031,000 |  |
Loan Agreement | 2018 Term Loan |  |  |  |  |  |  |  |  |  |  |  |
Term Loans |  |  |  |  |  |  |  |  |  |  |  |
Term loan amount |  |  |  | $ 50,000,000 |  |  |  |  |  |  |  |
Net proceeds from loan |  |  |  | 49,300,000 |  |  |  |  |  |  |  |
Interest-only payment extension term (in months) |  | 12 months | 6 months |  |  |  |  |  |  |  |  |
Principal repayment |  |  |  |  | $ 16,700,000 |  |  |  |  |  |  |
Closing fee |  | $ 100,000 |  | $ 500,000 |  |  |  |  |  |  |  |
Final fee due upon maturity, acceleration, prepayment, or termination (percent) |  | 4.95% |  | 3.95% |  |  |  |  |  |  |  |
Additional default interest rate |  |  |  | 4.00% |  |  |  |  |  |  |  |
Loan Agreement | 2018 Term Loan | Subsequent event |  |  |  |  |  |  |  |  |  |  |  |
Term Loans |  |  |  |  |  |  |  |  |  |  |  |
Principal outstanding | $ 25,000,000 |  |  |  |  |  |  |  |  |  |  |
Loan Agreement | 2018 Term Loan | LIBOR |  |  |  |  |  |  |  |  |  |  |  |
Term Loans |  |  |  |  |  |  |  |  |  |  |  |
Floating per annum rate (percent) |  |  |  | 7.45% |  |  |  |  |  |  |  |
Loan Agreement | 2018 Term Loan | Prior to first anniversary of closing date |  |  |  |  |  |  |  |  |  |  |  |
Term Loans |  |  |  |  |  |  |  |  |  |  |  |
Prepayment premium (as a percent) |  |  |  | 3.00% |  |  |  |  |  |  |  |
Loan Agreement | 2018 Term Loan | After first anniversary through second anniversary of closing date |  |  |  |  |  |  |  |  |  |  |  |
Term Loans |  |  |  |  |  |  |  |  |  |  |  |
Prepayment premium (as a percent) |  |  |  | 2.00% |  |  |  |  |  |  |  |
Loan Agreement | 2018 Term Loan | After second anniversary to maturity date |  |  |  |  |  |  |  |  |  |  |  |
Term Loans |  |  |  |  |  |  |  |  |  |  |  |
Prepayment premium (as a percent) |  |  |  | 1.00% |  |  |  |  |  |  |  |
Loan Agreement | Term Loan A | Subsequent event |  |  |  |  |  |  |  |  |  |  |  |
Term Loans |  |  |  |  |  |  |  |  |  |  |  |
Net proceeds from loan | 27,500,000 |  |  |  |  |  |  |  |  |  |  |
Loan Agreement | Term Loan A | Forecast |  |  |  |  |  |  |  |  |  |  |  |
Term Loans |  |  |  |  |  |  |  |  |  |  |  |
Principal repayment |  |  |  |  |  | $ 2,300,000 | $ 9,200,000 | $ 9,200,000 | $ 6,900,000 |  |  |
Final fee payment |  |  |  |  |  | $ 1,400,000 |  |  |  |  |  |
Loan Agreement | Term Loan B | Subsequent event |  |  |  |  |  |  |  |  |  |  |  |
Term Loans |  |  |  |  |  |  |  |  |  |  |  |
Remaining funding based on milestone achievement | $ 22,500,000 |  |  |  |  |  |  |  |  |  |  |

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