Annual report pursuant to Section 13 and 15(d)

Loan and Security Agreement - Additional Information (Details)

v3.22.0.1
Loan and Security Agreement - Additional Information (Details)
1 Months Ended 12 Months Ended
Feb. 28, 2020
USD ($)
Installment
$ / shares
shares
Aug. 31, 2017
USD ($)
Installment
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Oct. 01, 2018
shares
Jul. 31, 2018
USD ($)
Debt Instrument [Line Items]              
Interest payable     $ 200,000 $ 200,000      
Loan and accretion of debt discount     600,000 500,000 $ 200,000    
Interest expense, debt     $ 2,600,000 $ 2,300,000 $ 1,100,000    
Average interest rate     8.07% 8.08% 8.72%    
Two Thousand Seventeen Warrants              
Debt Instrument [Line Items]              
Estimated fair value portion of preferred stock             $ 300,000
Series E Redeemable Convertible Preferred Stock              
Debt Instrument [Line Items]              
Warrant to purchase stock | shares           46,359  
August 2017 Loan | Floating Rate              
Debt Instrument [Line Items]              
Interest charges on loan   7.39%          
August 2017 Loan | LIBOR              
Debt Instrument [Line Items]              
Interest charges on loan   6.40%          
Description of interest charges on loan     the sum of the 30-day U.S. Dollar London Interbank Offered Rate (“LIBOR”) plus 6.40%.        
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank              
Debt Instrument [Line Items]              
Warrant to purchase stock | shares 81,257            
Exercise price per share | $ / shares $ 9.23            
Estimated fair value upon issuance of warrants $ 600,000            
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank | August 2017 Loan              
Debt Instrument [Line Items]              
Borrowed amount   $ 15,000,000.0          
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank | August 2017 Loan | March 2019              
Debt Instrument [Line Items]              
Number of monthly installments | Installment   30          
Payment terms, description     The loan was due in 30 monthly installments from March 2019        
Repayment installment, start date, month and year   2019-03          
Repayment installment, end date, month and year   2021-08          
Frequency of interest-only payments     monthly payments        
Interest-only payments, maturity month and year   2019-03          
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank | Term A Loan              
Debt Instrument [Line Items]              
Borrowed amount $ 25,000,000.0            
Number of monthly installments | Installment 24            
Payment terms, description     The Term A Loan matures on March 1, 2024 (the “Maturity Date”) and will be interest-only through March 1, 2022, followed by 24 equal monthly payments of principal and interest.        
Interest charges on loan 8.07%            
Description of interest charges on loan     The Term A Loan will bear interest at a floating per annum rate equal to the greater of (i) 8.07% or (ii) the sum of (a) the greater of (1) the thirty (30) day U.S. LIBOR rate reported in the Wall Street Journal on the last business day of the month that immediately precedes the month in which the interest will accrue or (2) 1.67%, plus (b) 6.40%.        
Term loan maximum borrowing capacity $ 25,000,000.0            
Repayment of outstanding principal amount $ 9,600,000            
Debt instrument, maturity date Mar. 01, 2024            
Debt instrument interest only payments maturity date Mar. 01, 2022            
Floor percent of thirty days libor 1.67%            
Final payment fee percentage 3.83%            
Interest payable $ 1,000,000.0            
Principal amount Prepayment amount percentage to be paid before first anniversary 3.00%            
Principal amount Prepayment amount percentage to be paid between first and second anniversary 2.00%            
Principal amount Prepayment amount percentage to be paid to be paid thereafter and prior to maturity 1.00%            
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank | Term A Loan | LIBOR              
Debt Instrument [Line Items]              
Interest charges on loan 6.40%