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Stockholders' (Deficit) Equity - Summary of Option Activity under 2018 Plan, 2013 Plan and 2010 Plan (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Options    
Number of Shares, Options outstanding at beginning of period 1,954,975  
Number of Shares, Options Granted 960,500  
Number of Shares, Options Cancelled/forfeited (120,625)  
Number of Shares, Options outstanding at end of period 2,794,850 1,954,975
Number of Shares, Options exercisable at end of period 1,462,238  
Weighted Average Exercise Price, Options    
Weighted Average Exercise Price, Options outstanding at beginning of period $ 8.16  
Weighted Average Exercise Price, Options Granted 2.33  
Weighted Average Exercise Price, Options Cancelled/forfeited 3.41  
Weighted Average Exercise Price, Options outstanding at end of period 6.36 $ 8.16
Weighted Average Exercise Price, Options exercisable at end of period $ 9.56  
Weighted Average Remaining Contract Term, Options    
Weighted Average Remaining Contractual Term, Options outstanding at beginning of period 7 years 4 months 24 days 7 years 9 months 18 days
Weighted Average Remaining Contractual Term, Options exercisable at end of period 6 years 3 months 18 days  
Aggregate Intrinsic Value    
Aggregate Intrinsic Value, Options outstanding at end of period $ 211  
Aggregate Intrinsic Value, Options exercisable at end of period $ 4