Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details)

v3.23.1
Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details) - 2004 Plan, 2018 Plan and 2021 Plan - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding Options, Beginning Balance 6,512,086  
Outstanding Options Granted 1,376,500  
Outstanding Options Exercised (49,654)  
Outstanding Options Canceled or Forfeited (528,321)  
Outstanding Options, Ending Balance 7,310,611 6,512,086
Outstanding Options Exercisable 5,201,489  
Weighted - Average Exercise Price, Beginning Balance $ 13.86  
Weighted - Average Exercise Price, Granted 7.16  
Weighted - Average Exercise Price, Exercised 5.40  
Weighted - Average Exercise Price, Canceled or Forfeited 13.54  
Weighted - Average Exercise Price, Ending Balance 12.68 $ 13.86
Weighted - Average Exercise Price, Exercisable $ 13.05  
Weighted - Average Remaining Contract Term 6 years 7 months 28 days 7 years 4 months 20 days
Weighted - Average Remaining Contract Term, Exercisable 5 years 10 months 17 days  
Aggregate Intrinsic Value, Balance $ 2,187 $ 14,955
Aggregate Intrinsic Value, Exercisable $ 991