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Debt - Additional Information (Details) - USD ($) |  | 3 Months Ended | 6 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
Sep. 17, 2021 | Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021 | Dec. 31, 2021
Debt Instrument [Line Items] |  |  |  |  |  |
Term loans aggregate principal amount |  | $ 100,000,000 |  | $ 100,000,000 |  |
Loan Agreement |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Debt instrument, final payment fee or end of term charge | $ 7,500,000 |  |  |  |  |
Percentage of qualified cash prior to Third performance milestone | 60.00% |  |  |  |  |
Minimum percentage of qualified cash following third performance milestone | 35.00% |  |  |  |  |
Minimum market capitalization amount | $ 900,000,000.0 |  |  |  |  |
Percentage of debt funded to be issued as warrants to purchase common stock | 2.50% |  |  |  |  |
Warrants exercise price | $ 33.43 |  |  |  |  |
Warrants expire term | 7 years |  |  |  |  |
Warrants expiration date | Sep. 17, 2028 |  |  |  |  |
Fair value of warrants | $ 1,300,000 |  |  |  |  |
Debt issuance costs | $ 3,100,000 |  |  |  |  |
Loan Agreement | Common Stock |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Warrants issued to purchase shares | 74,782 |  |  |  |  |
Loan Agreement | Term Loan |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Term loans aggregate principal amount | $ 200,000,000.0 |  |  |  |  |
Payment for facility charge | $ 1,250,000 |  |  |  |  |
Debt instrument, facility charge percentage | 0.50% |  |  |  |  |
Debt instrument, maturity date | Oct. 01, 2026 |  |  |  |  |
Loan Agreement | Term Loan | Floor Rate |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Debt instrument interest rate | 5.50% |  |  |  |  |
Loan Agreement | Term Loan | Prime Rate |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Debt instrument, basis spread on variable rate | 2.25% |  |  |  |  |
Loan Agreement | Term Loan | Payment In Kind PIK Interest Rate |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Debt instrument, interest rate | 3.35% |  |  |  |  |
Loan Agreement | Term Loans, Aggregate Principal Amount Tranches One |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Term loans aggregate principal amount | $ 100,000,000.0 |  |  |  |  |
Loan Agreement | Term Loans, Aggregate Principal Amount Tranches Two |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Term loans aggregate principal amount | 50,000,000.0 |  |  |  |  |
Loan Agreement | Term Loans, Aggregate Principal Amount Tranches Three and Four |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Term loans aggregate principal amount | $ 50,000,000.0 |  |  |  |  |
Loan Agreement | Term Loan Advance |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Debt instrument, final payment fee percentage | 7.50% |  |  |  |  |
Debt instrument, final payment fee or end of term charge |  | 7,500,000 |  | 7,500,000 |  |
Loan Agreement | Term Loan Advance | Maximum |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Debt instrument, prepayment fee percentage of outstanding principal amount | 1.25% |  |  |  |  |
Hercules and SVB Term Loan |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Term loans aggregate principal amount |  | 102,700,000 |  | 102,700,000 |  |
Accrued interest |  | 600,000 |  | 600,000 |  |
Hercules Loan Agreement |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Interest expense |  | $ 3,000,000.0 |  | $ 5,800,000 |  |
SVB Term Loan |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Interest expense |  |  | $ 1,200,000 |  | $ 2,500,000 |
SVB Term Loan | Term Loan First Advance |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Final payment of debt |  |  |  |  |  | $ 54,300,000

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