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Stockholders' Equity - Additional Information (Details) - USD ($) | 1 Months Ended | 12 Months Ended
--- | --- | ---
Apr. 30, 2021 | Oct. 31, 2019 | Jun. 30, 2014 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Class Of Stock [Line Items] |  |  |  |  |  |
Proceeds from issuance of common stock |  | $ 162,200,000 |  |  |  | $ 162,151,000
Share-based Payment Arrangement, Option |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, options, forfeitures in period |  |  |  | 806,244 |  |
Share-based compensation arrangements by share-based payment award, options, forfeitures in period, weighted average exercise price |  |  |  | $ 20.51 |  |
Share-based compensation arrangement by share-based payment award, options, expirations in period |  |  |  | 846,350 |  |
Share-based compensation arrangements by share-based payment award, options, expirations in period, weighted average exercise price |  |  |  | $ 22.81 |  |
Pre-funded Warrants |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Class of warrant or right, number of securities called by warrants or rights |  |  | 600,000 |  |  |
Class of warrant or right, exercise price of warrants or rights |  |  | $ 0.01 |  |  |
Class of warrant or right, expiration date |  |  | Jun. 30, 2021 |  |  |
Class of warrant or right, exercised during period | 195,574 |  |  |  | 267,870 | 132,130
Proceeds from issuance of warrants | $ 0 |  |  |  | $ 2,679,000 | $ 1,321,000
Class of warrant or right, outstanding |  |  |  | 0 |  |
Common Stock |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Number of shares issued |  | 9,900,000 |  |  |  | 9,857,000
Share price |  | $ 17.50 |  |  |  |
Payments of stock issuance costs |  | $ 10,300,000 |  |  |  |
Issuance of common stock on exercise of warrants (in shares) |  |  |  | 195,000 | 267,000 | 132,000
Common Stock | Pre-funded Warrants |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Issuance of common stock on exercise of warrants (in shares) | 195,461 |  |  |  | 267,870 | 132,130

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