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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Operating Loss Carryforwards [Line Items]      
Undistributed earnings of the Company's foreign subsidiaries $ 3,400,000 $ 3,500,000 $ 1,400,000
Increase in valuation allowance 8,800,000    
Valuation allowance $ (35,080,000) $ (26,257,000)  
Net operating loss carryover limit based on taxable income 80.00%    
Tax positions for which it is reasonably possible that the total amounts of unrecognized tax benefits will significantly increase or decrease $ 0    
Amount of of unrecognized tax benefits that would affect Company's effective tax rate if recognized $ 400,000    
Minimum      
Operating Loss Carryforwards [Line Items]      
Remain Open To Examination Period 3 years    
Maximum      
Operating Loss Carryforwards [Line Items]      
Remain Open To Examination Period 4 years    
Her Majesty's Revenue and Customs (HMRC in UK)      
Operating Loss Carryforwards [Line Items]      
Valuation allowance $ 0    
Federal      
Operating Loss Carryforwards [Line Items]      
Net operating loss carryforwards 116,800,000    
Net operating loss carryforwards indefinitely 77,100,000    
State      
Operating Loss Carryforwards [Line Items]      
Net operating loss carryforwards 75,400,000    
Research Tax Credit Carryforward | Federal      
Operating Loss Carryforwards [Line Items]      
Research and development credit carryforwards 4,400,000    
Research Tax Credit Carryforward | State      
Operating Loss Carryforwards [Line Items]      
Research and development credit carryforwards $ 4,700,000