Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity - Additional Information (Details)

v3.22.0.1
Stockholders' Equity - Additional Information (Details) - $ / shares
1 Months Ended 12 Months Ended
Oct. 01, 2018
Aug. 31, 2017
Dec. 31, 2021
Nov. 30, 2021
Dec. 31, 2020
Feb. 28, 2020
Stockholders Equity [Line Items]            
Voting rights per share     one vote per share      
Preferred stock shares authorized     10,000,000   10,000,000  
Preferred stock, par value     $ 0.001   $ 0.001  
Preferred stock, outstanding     0   0  
Common Stock Warrant            
Stockholders Equity [Line Items]            
Issuance of warrants to purchase shares       9,308    
Loan and Security Agreement | Oxford Finance LLC            
Stockholders Equity [Line Items]            
Issuance of warrants to purchase shares           54,171
Loan and Security Agreement | Silicon Valley Bank            
Stockholders Equity [Line Items]            
Issuance of warrants to purchase shares           27,086
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank            
Stockholders Equity [Line Items]            
Issuance of warrants to purchase shares           81,257
Exercise price per share           $ 9.23
Series E Redeemable Convertible Preferred Stock            
Stockholders Equity [Line Items]            
Issuance of warrants to purchase shares 46,359          
Preferred stock, conversion basis 1-for-0.0275          
Series C Redeemable Convertible Preferred Stock            
Stockholders Equity [Line Items]            
Issuance of warrants to purchase shares 25,453          
Exercise price per share $ 12.9649          
Preferred stock, conversion basis 1-for-0.0370          
Cancellation of redeemable convertible preferred warrants 1,232,220          
Conversion of warrants to purchase of shares of common stock 687,928          
Warrant exercisable date     Dec. 31, 2020      
Oxford Finance LLC and Silicon Valley Bank | Series D Two Redeemable Convertible Preferred Stock | Loan and Security Agreement            
Stockholders Equity [Line Items]            
Issuance of warrants to purchase shares   682,230        
Exercise price per share   $ 0.6596        
Oxford Finance LLC and Silicon Valley Bank | Series E Redeemable Convertible Preferred Stock | Loan and Security Agreement            
Stockholders Equity [Line Items]            
Issuance of warrants to purchase shares   1,682,871        
Exercise price per share   $ 0.2674        
Term of warrant exercisable   10 years