Stock-Based Compensation - Stock Option Activity Under Stock Option Plan (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended		12 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Number of Shares
Beginning Balance			10,408,622
Granted	620,000	692,500	3,685,167	3,382,500
Cancelled			(484,903)
Ending Balance	13,608,886		13,608,886		10,408,622
Options exercisable, at end of period	5,308,410		5,308,410		3,891,598
Options available for future grant	12,259,824		12,259,824
Weighted Average Exercise Price
Beginning Balance			$ 1.84
Granted			0.51
Cancelled			1.62
Ending Balance	$ 1.49		1.49		$ 1.84
Options exercisable, at end of period	$ 2.14		$ 2.14		$ 2.46
Weighted Average Contractual Term (Years)
Outstanding, at end of period			8 years 4 months 9 days
Options exercisable, at end of period			6 years 7 months 20 days		8 years 29 days
Aggregate Intrinsic Value
Outstanding, at end of period	$ 45		$ 45
Options exercisable, at end of period	$ 2		$ 2		$ 0