Quarterly report pursuant to Section 13 or 15(d)

Oxford Finance Loan Agreement - Additional Information (Details)

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Oxford Finance Loan Agreement - Additional Information (Details)
3 Months Ended 9 Months Ended
Jul. 03, 2022
Jul. 02, 2022
Dec. 23, 2020
USD ($)
$ / shares
shares
Feb. 12, 2020
USD ($)
$ / shares
shares
Sep. 30, 2022
USD ($)
shares
Sep. 30, 2021
USD ($)
shares
Sep. 30, 2022
USD ($)
shares
Sep. 30, 2021
USD ($)
shares
Dec. 31, 2021
USD ($)
Debt Instrument [Line Items]                  
Term loan         $ 40,000,000   $ 40,000,000    
Warrants to purchase common stock | shares         211,709 211,709 211,709 211,709  
Long-term portion of debt         $ 40,514,000   $ 40,514,000   $ 40,257,000
Loan Agreement                  
Debt Instrument [Line Items]                  
Term loan, aggregate principal amount       $ 60,000,000.0          
Additional term loan advances, description       A first tranche term loan for $20.0 million was funded on February 12, 2020, and a second tranche term loan for $20.0 million was funded on December 23, 2020. The remaining $20.0 million is still available under the Loan Agreement, at the sole discretion of the Lender.          
Each of available additional term loan advances       $ 20,000,000.0          
Term loan, interest rate terms       The term loan bears interest at an annual rate equal to the greater of (i) 7.75% and (ii) the sum of 5.98% and the greater of (A) one-month LIBOR or (B) 1.77%.          
Term loan, interest rate       7.75%          
Term loan, effective interest rate       5.98%          
Term loan, variable interest rate basis       one-month LIBOR          
Term loan, variable interest rate basis spread       1.77%          
Term loan, maturity date       Feb. 01, 2025          
Extended interest only period upon consummation of merger and private placement Mar. 01, 2024 Mar. 01, 2023              
Extended maturity date upon consummation of merger and private placement Feb. 01, 2026 Feb. 01, 2025              
Extended interest only period upon achievement of certain milestones Sep. 01, 2024                
Extended maturity upon consummation of merger and private placement Aug. 01, 2026                
Term Loan, facilities fee       $ 300,000          
Term loan, final payment fee percentage       5.00%          
Warrants to purchase common stock | shares         2,754 2,754 2,754 2,754  
Warrant exercisable period from date of issuance             5 years    
Interest expense         $ 1,000,000.0 $ 1,000,000.0 $ 3,000,000.0 $ 2,900,000  
Long-term portion of debt         $ 40,500,000   $ 40,500,000    
Loan Agreement | Advance Prepaid in First 12 Months                  
Debt Instrument [Line Items]                  
Term loan, prepayment fee, equal to percentage of the principal amount being prepaid       2.00%          
Loan Agreement | Advance Prepaid After 12 Months But Prior to 24 Months                  
Debt Instrument [Line Items]                  
Term loan, prepayment fee, equal to percentage of the principal amount being prepaid       1.00%          
Loan Agreement | Advance Prepaid After 24 Months But Prior to Maturity Date                  
Debt Instrument [Line Items]                  
Term loan, prepayment fee, equal to percentage of the principal amount being prepaid       0.50%          
Loan Agreement | First Loan Tranche                  
Debt Instrument [Line Items]                  
Term loan       $ 20,000,000.0          
Term Loan, facilities fee       $ 100,000          
Warrants to purchase common stock | shares       27,548          
Warrant exercise price of common stock per share | $ / shares       $ 7.26          
Fair value of warrants       $ 100,000          
Loan Agreement | First Loan Tranche | Expected volatility | Weighted Average                  
Debt Instrument [Line Items]                  
Fair value of weighted average volatility       75.43          
Loan Agreement | First Loan Tranche | Expected life (in years) | Weighted Average                  
Debt Instrument [Line Items]                  
Fair value of weighted expected term       5 years          
Loan Agreement | Second Loan Tranche                  
Debt Instrument [Line Items]                  
Term loan     $ 20,000,000.0            
Term Loan, facilities fee     $ 75,000            
Warrants to purchase common stock | shares     17,389            
Warrant exercise price of common stock per share | $ / shares     $ 11.50            
Fair value of warrants     $ 200,000            
Loan Agreement | Second Loan Tranche | Expected volatility | Weighted Average                  
Debt Instrument [Line Items]                  
Fair value of weighted average volatility     82.41            
Loan Agreement | Second Loan Tranche | Expected life (in years) | Weighted Average                  
Debt Instrument [Line Items]                  
Fair value of weighted expected term     5 years            
Loan Agreement | Third Loan Tranche                  
Debt Instrument [Line Items]                  
Term loan, facilities fee       $ 50,000