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Debt - Additional Information (Details) - USD ($) | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Jul. 19, 2021 | Nov. 30, 2020 | Jan. 31, 2019
Debt Instrument [Line Items] |  |  |  |  |
Term Loan | $ 35,000,000 |  |  |  |
Preferred Stock, Shares Issued | 0 | 0 |  |  |
Payments of Debt Issuance Costs | $ 0 | $ 142,000 |  |  |
IPO |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Warrants to purchase common stock |  |  | 659,028 |  |
Senior Secured Twenty Twenty Term Loan |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt Instrument, Term | 5 years |  |  |  |
Debt instrument, frequency of periodic payment | interest-only payments |  |  |  |
Debt instrument interest payment extended term | 24 months |  |  |  |
Debt instrument payment terms | The 2020 Term Loan requires monthly interest-only payments, which began in December 2020. Principal payments are scheduled to begin in December 2022, however, the interest-only period can be extended by an additional 24 months provided that the Company is in compliance with certain financial covenants and other terms as defined in the MidCap Loan Agreements. The Company currently has the ability to and intends to extend the interest-only period through December 2023. |  |  |  |
Debt instrument, effective interest rate | 12.94% |  |  |  |
Debt issuance costs | $ 500,000 |  |  |  |
Percentage of final payment fee | 6.00% |  |  |  |
Accrued Accretion On Maturity Payments | $ 900,000 | $ 500,000 |  |  |
Senior Secured Twenty Twenty Term Loan | Series F Redeemable Convertible Preferred Stock |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Warrants term | 10 years |  |  |  |
Warrants to purchase common stock | 300,000 |  |  |  |
Class of warrant exercise price | $ 21.88 |  |  |  |
Fair value of warrants | $ 1,800,000 |  |  |  |
Senior Secured Twenty Twenty Term Loan | Tranche One Loans |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Maximum borrowing capacity |  |  |  | $ 12,000,000.0 |
Senior Secured Twenty Twenty Term Loan | Tranche Two Loans |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Maximum borrowing capacity |  |  |  | 2,000,000.0 |
Senior Secured Twenty Twenty Term Loan | Tranche Three Loans |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Maximum borrowing capacity |  |  |  | 21,000,000.0 |
Term Loan |  |  |  | 21,000,000.0 |
Senior Secured Twenty Twenty Term Loan | London Interbank Offered Rate (LIBOR) |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt instrument, variable rate | 7.00% |  |  |  |
Revolving Credit Facility Two Thousand Twenty |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Line of credit facility, unused capacity, commitment fee percentage | 0.50% |  |  |  |
Line of credit facility collateral fees | 0.50% |  |  |  |
Line of credit facility, commitment fee amount | $ 15,000,000.0 |  |  |  |
Line of credit facility, commitment fee description | An unused line fee of 0.5% is payable monthly based on the average unused balance and a collateral management fee of 0.5% is payable monthly based on the outstanding balance of the 2020 Revolver. |  |  |  |
Line of Credit Facility, Current Borrowing Capacity | $ 5,000.0 |  |  |  |
Revolving Credit Facility Two Thousand Twenty | London Interbank Offered Rate (LIBOR) |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt instrument, variable rate | 4.50% |  |  |  |
Mid Cap Financial Services |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Maximum borrowing capacity |  |  |  | 40,000,000.0 | $ 25,000,000.0
Mid Cap Financial Services | Senior Secured Two Thousand Nineteen Term Loan |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Maximum borrowing capacity |  |  |  |  | 20,000,000.0
Mid Cap Financial Services | Senior Secured Twenty Twenty Term Loan |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Maximum borrowing capacity |  |  |  | 35,000,000.0 |
Mid Cap Financial Services | Revolving Credit Facility Two Thousand Nineteen |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Maximum borrowing capacity |  |  |  |  | $ 5,000,000.0
Mid Cap Financial Services | Revolving Credit Facility Two Thousand Twenty |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Maximum borrowing capacity |  |  |  | $ 5,000,000.0 |

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