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Income Taxes - Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Income Taxes [Line Items]    
Increase (decrease) in valuation allowance $ 2.0 $ 1.1
Percentage of limitation on federal and state net operating loss carryforwards 89.00%  
Percentage of limitation on federal tax credit carryforwards 88.00%  
Federal statutory rate 21.00%  
Federal    
Income Taxes [Line Items]    
Net operating loss carryforwards, amount $ 214.1  
Net operating loss carryforwards available before expiration 20.2  
Federal | Research and development    
Income Taxes [Line Items]    
Tax credit carryforwards with expiration 8.6  
State    
Income Taxes [Line Items]    
Net operating loss carryforwards, amount 134.1  
Net operating loss carryforwards available before expiration 16.7  
State | Research and development    
Income Taxes [Line Items]    
Tax credit carryforwards without expiration $ 8.4  
Earliest Tax Year    
Income Taxes [Line Items]    
Net operating loss carryforwards, expiration year 2025  
Latest Tax Year    
Income Taxes [Line Items]    
Net operating loss carryforwards, expiration year 2041