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Debt - Additional Information (Details) - USD ($) |  |  | 1 Months Ended | 3 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | ---
Dec. 31, 2021 | Mar. 19, 2021 | Apr. 30, 2020 | Mar. 31, 2022 | Sep. 30, 2021 | Mar. 31, 2021 | Dec. 31, 2021 | Dec. 31, 2020 | Feb. 28, 2018
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Estimated air value of warrants issued | $ 300,000 |  |  |  |  |  | $ 300,000 |  |
Cash and cash equivalents | 32,712,000 |  |  |  |  |  | 32,712,000 | $ 62,126,000 |
Gain (loss) on debt extinguishment |  |  |  |  |  |  | 2,298,000 |  |
Estimated value of put option liability |  |  |  |  |  |  |  | 3,400,000 |
Cash paid for interest |  |  |  |  |  |  | 1,676,000 | $ 1,844,000 |
Common Stock |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument converted to common stock |  |  |  |  |  |  |  | 20,091,000 |
2021 Term Loan |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Loan principle amount | 10,000,000 | $ 30,000,000 |  |  |  |  | $ 10,000,000 |  |
Debt instrument frequency of periodic payment |  | monthly |  |  |  |  |  |  |
Revenue milestone |  |  |  |  |  | $ 65,000,000 |  |  |
Debt instrument, covenant description |  |  |  |  |  |  | The 2021 Term Loan requires the Company to comply with a minimum liquidity ratio covenant (as defined) by the 2021 Term Loan of not less than 0.95 to 1.00, and has a trailing six month rolling minimum revenue requirement of not less than 70% of the Company’s projected revenue performed at the end of each reporting period. |  |
Debt instrument, covenant compliance |  |  |  |  |  |  | the Company was in compliance with all restrictive and financial covenants associated with its borrowings. |  |
Debt instrument description |  |  |  |  |  |  | The 2021 Term Loan provides for an “interest-only” period from the Effective Date through February 28, 2023, with interest due and payable monthly on the first calendar day of each month. However, the Company achieved a revenue milestone of at least $65 million on a trailing twelve-month basis during the three months ended March 31, 2021 which automatically extended the interest-only period through February 28, 2024. Beginning on the first calendar day of the month following the end of the interest-only period, the 2021 Term Loan shall be payable in (i) consecutive equal installments of principal through March 1, 2026, plus (ii) monthly payments of accrued interest. The principal amount outstanding under the 2021 Term Loan shall accrue interest at a floating per annum rate equal to the greater of (i) 2.00% above the prime rate, or (ii) 5.25%, which interest, in each case, shall be payable monthly. Changes to the interest rate applicable to the 2021 Term Loan based on changes to the prime rate shall be effective on the effective date of any change to the prime rate. |  |
Debt instrument maturity date |  | Mar. 01, 2026 |  |  |  |  |  |  |
Repayments of Debt |  | $ 2,700,000 |  |  |  |  |  |  |
2021 Term Loan | Prior to First Anniversary |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument, prepayment penalty |  | 3.00% |  |  |  |  |  |  |
2021 Term Loan | Prior to Second Anniversary |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument, prepayment penalty |  | 2.00% |  |  |  |  |  |  |
2021 Term Loan | After Second Anniversary, Prior to October 19, 2025 |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument, prepayment penalty |  | 1.00% |  |  |  |  |  |  |
2021 Term Loan | Thereafter |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument, prepayment penalty |  | 0.00% |  |  |  |  |  |  |
2021 Term Loan | Maximum |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Minimum liquidity ratio covenant |  | 0.0095 |  |  |  |  |  |  |
Percentage of minimum revenue requirement |  | 70.00% |  |  |  |  | 75.00% |  |
2021 Term Loan | Maximum | Forecast |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Percentage of minimum revenue requirement |  |  |  | 75.00% |  |  |  |  |
2021 Term Loan Amendment |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Restricted cash collateral account | 15,000,000 |  |  |  |  |  | $ 15,000,000 |  |
2021 Term Loan Amendment | Maximum |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Cash and cash equivalents | 40,000 |  |  |  |  |  | $ 40,000 |  |
Second Amendment |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Milestone payment | 4,600,000 |  |  |  |  |  |  |  |
Gain (loss) on debt extinguishment | (100,000) |  |  |  |  |  |  |  |
Partial repayments of debt | 20,000,000 |  |  |  |  |  |  |  |
Prepayment fee waived amount | 600,000 |  |  |  |  |  |  |  |
Write-off of debt issuance costs | 20,000,000 |  |  |  |  |  |  |  |
Repayments of Debt | $ 20,000,000 |  |  |  |  |  |  |  |
2018 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Loan principle amount |  |  |  |  |  |  |  | $ 24,972,000 | $ 23,000,000.0
Facility fee amount |  |  |  |  |  |  |  |  | 200,000
Estimated air value of warrants issued |  |  |  |  |  |  |  |  | $ 300,000
Interest rate |  |  |  |  |  |  |  |  | 10.00%
Percentage of interest rate, paid in cash |  |  |  |  |  |  |  |  | 7.50%
Percentage of interest rate added to principal value of notes payable |  |  |  |  |  |  |  |  | 2.50%
Interest added to principal value |  |  |  |  |  | 1,700,000 |  | 1,700,000 |
Gain (loss) on debt extinguishment |  |  |  |  |  | $ (700,000) |  |  |
Repayments of Debt |  | $ 25,900,000 |  |  |  |  |  |  |
2018 Notes | Series G Preferred Stock |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Warrant issued to purchase shares | 613,333 |  |  |  |  |  | 613,333 |  | 613,333
PPP Loan |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument description |  |  |  |  |  |  | The PPP Loan had a maturity date on the two-year anniversary of the funding date, April 2022, and included a fixed rate of 1.00% per annum. Monthly principal and interest payments, less the amount of any potential forgiveness (as discussed below), were scheduled to commence in September 2021. The Company did not provide any collateral or guarantees in connection with the PPP Loan, nor did the Company pay any facility charge to obtain the PPP Loan. |  |
PPP Loan | Interest-bearing Deposits |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest rate |  |  | 1.00% |  |  |  |  |  |
PPP Loan | CARES Act |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Loan principle amount |  |  | $ 3,100,000 |  |  |  |  | $ 3,107,000 |
Gain (loss) on debt extinguishment |  |  |  |  | $ 3,100,000 |  |  |  |
Current portion of notes payable |  |  |  |  | $ 3,100,000 |  |  |  |
Percentage for non-payroll costs |  |  | 40.00% |  |  |  |  |  |
Upper limit of employee salary to reduce forgiveness |  |  | $ 100,000 |  |  |  |  |  |
Percentage of upper limit of employee salary to reduce forgiveness |  |  | 25.00% |  |  |  |  |  |
PPP Loan | Minimum | CARES Act |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Payroll costs excludes compensation of an employee |  |  | $ 100,000 |  |  |  |  |  |

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