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Common Stock Warrants - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 12 Months Ended
Apr. 30, 2021
May 31, 2018
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2016
Oct. 31, 2021
Dec. 31, 2018
Class Of Warrant Or Right [Line Items]              
Number of warrants issued 40,000 23,669   30,000 45,000    
Exercise price $ 9.41 $ 3.19   $ 18.00 $ 1.14    
Warrant shares exercisable           45,000  
Issuance of common stock warrant in connection with settlement     $ 1,146        
Proceeds from offering of securities in a private placement         $ 25,000    
Warrant expiration year   2025   2027 2023    
Warrant vesting period       4 years      
Warrant exercised month and year 2021-05            
Additional Paid-in Capital              
Class Of Warrant Or Right [Line Items]              
Issuance of common stock warrant in connection with settlement $ 1,100            
Maximum              
Class Of Warrant Or Right [Line Items]              
Fair value of warrant shares     $ 100 $ 100      
Series B Financing              
Class Of Warrant Or Right [Line Items]              
Warrant shares exercisable             15,000
Private Placement              
Class Of Warrant Or Right [Line Items]              
Warrant shares exercisable         15,000    
Initial Public Offering              
Class Of Warrant Or Right [Line Items]              
Warrant shares exercisable       30,000