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)

v3.24.1
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, 2023
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock options outstanding, Beginning Balance, Shares 7,310,611  
Outstanding Options Granted 1,611,500  
Outstanding Options Exercised (53,060)  
Outstanding Options Canceled or Forfeited (964,019)  
Stock options outstanding, Ending Balance, Shares 7,905,032 7,310,611
Stock options exercisable, Shares 5,717,050  
Stock options outstanding, Weighted - Average Exercise Price, Beginning Balance $ 12.68  
Weighted - Average Exercise Price, Granted 5.35  
Weighted - Average Exercise Price, Exercised 5.92  
Weighted - Average Exercise Price, Canceled or Forfeited 12.63  
Stock options outstanding, Weighted - Average Exercise Price, Ending Balance 11.24 $ 12.68
Stock options exercisable, Weighted - Average Exercise Price, Exercisable $ 12.42  
Stock options outstandng, Weighted - Average Remaining Contract Term 6 years 7 days 6 years 7 months 28 days
Stock options exercisable, Weighted - Average Remaining Contract Term, Exercisable 5 years 1 month 20 days  
Stock options outstanding, Aggregate Intrinsic Value, Balance $ 180 $ 2,187
Stock options exercisable, Aggregate Intrinsic Value, Exercisable $ 14