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Equity Financings and Warrants (Details Textual) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		12 Months Ended
	Mar. 31, 2022	Mar. 31, 2021	Dec. 31, 2021	Jul. 22, 2020
Equity Financing And Warrants [Line Items]
Common stock, par value	$ 0.001		$ 0.001
Net proceeds from issuance of common stock		$ 24,070
JonesTrading
Equity Financing And Warrants [Line Items]
Percentage of selling commission per additional shares sold				3.00%
Sales Agreement | JonesTrading
Equity Financing And Warrants [Line Items]
Common stock, par value				$ 0.001
Aggregate offering price of common stock authorized				$ 54,000
2020 Sales Agreement
Equity Financing And Warrants [Line Items]
Sale of common stock	0		4,861,993
Net proceeds from issuance of common stock			$ 23,300

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