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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Income Tax Contingency [Line Items] |  |  |
Federal statutory income tax rate | 21.00% | 21.00% | 21.00%
Net operating loss carryforwards begin to expire in 2033 | $ 27,515,000 |  |
Net operating loss carryforwards, do not expire amount | $ 132,371,000 |  |
Net operating loss carryforward, description | Net operating loss carryforwards related to tax years after 2017 of $132,371 do not expire. |  |
Interest or penalties accrued | $ 0 | $ 0 |
Unrecognized tax benefits | $ 1,654,000 | 877,000 | $ 543,000
Open tax year | 2013 2014 2015 2016 2017 2018 2019 2020 2021 |  |
Federal |  |  |
Income Tax Contingency [Line Items] |  |  |
Net operating loss carryforwards | $ 159,886,000 | 97,665,000 |
Operating loss carryforwards expiration year | 2033 |  |
Tax credit carryforward, expiration | 2034 |  |
Income tax examination period | 3 years |  |
Federal | Research and Development Tax Credits |  |  |
Income Tax Contingency [Line Items] |  |  |
Credit carryforward, amount | $ 6,588,000 | 3,470,000 |
State |  |  |
Income Tax Contingency [Line Items] |  |  |
Operating loss carryforwards expiration year | 2033 |  |
Income tax examination period | 4 years |  |
State | New Jersey |  |  |
Income Tax Contingency [Line Items] |  |  |
Net operating loss carryforwards | $ 154,972,000 | 92,805,000 |
Tax credit carryforward, expiration | 2022 |  |
State | California |  |  |
Income Tax Contingency [Line Items] |  |  |
Net operating loss carryforwards | $ 4,912,000 | 4,912,000 |
Tax credit carryforward, expiration | 2022 |  |
State | Lexington, Massachusetts |  |  |
Income Tax Contingency [Line Items] |  |  |
Net operating loss carryforwards | $ 4,640,000 | $ 950,000 |

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