Restatement of Previously Issued Financial Statements - Impact on Statement of Changes in Stockholders' Equity (Details) $ in Thousands		1 Months Ended			3 Months Ended			6 Months Ended	9 Months Ended	12 Months Ended
	Jul. 06, 2022 shares	Jul. 31, 2022 USD ($) shares	Oct. 31, 2021 shares	Mar. 31, 2021 shares	Sep. 30, 2022 USD ($) shares	Jun. 30, 2022 USD ($) shares	Mar. 31, 2022 USD ($) shares	Jun. 30, 2022 USD ($) shares	Sep. 30, 2022 USD ($) shares	Dec. 31, 2022 USD ($) shares	Dec. 31, 2021 USD ($) shares	Dec. 31, 2020 USD ($) shares
Increase (decrease) in stockholders' equity
Balance		$ 2,369			$ 2,369	$ (5,358)	$ 3,915	$ 3,915	$ 3,915	$ 3,915	$ 49,328	$ 45,745
Share-based compensation - stock options and RSUs						669	764			2,492	3,338	2,818
Issuance of common stock upon exercise of options											75	610
Warrants issued in connection with long-term debt											1,080	3,570
Unrealized net gain on marketable securities											(3)	3
Net loss					(5,930)	(5,168)	(10,385)	(15,553)	(21,481)	(25,412)	(71,067)	(51,853)
Balance					(3,025)	$ 2,369	$ (5,358)	$ 2,369	$ (3,025)	$ (5,545)	$ 3,915	$ 49,328
Reverse stock split conversion ratio										0.025	0.025
Common stock
Increase (decrease) in stockholders' equity
Balance		$ 1			$ 1
Balance (in shares) | shares		12,360,157			12,360,157	3,365,422	3,034,901	3,034,901	3,034,901	3,034,901	2,189,100	1,745,264
Issuance of common stock upon exercise of options (in shares) | shares											3,160	12,586
Vesting of RSUs (in shares) | shares						4,118	1,773			6,555	3,096
Balance					$ 4	$ 1		$ 1	$ 4	$ 4
Balance (in shares) | shares					39,026,823	12,360,157	3,365,422	12,360,157	39,026,823	42,970,134	3,034,901	2,189,100
Additional Paid in Capital.
Increase (decrease) in stockholders' equity
Balance		$ 401,211			$ 401,211	$ 388,317	$ 387,205	$ 387,205	$ 387,205	$ 387,205	$ 361,548	$ 306,115
Share-based compensation - stock options and RSUs					536	669	764			2,492	3,338	2,818
Issuance of common stock upon exercise of options											75	610
Warrants issued in connection with long-term debt											1,080	3,570
Balance					401,744	401,211	388,317	401,211	401,744	403,153	387,205	361,548
Accumulated Other Comprehensive Income
Increase (decrease) in stockholders' equity
Balance											3
Unrealized net gain on marketable securities											(3)	3
Balance												3
Accumulated Deficit
Increase (decrease) in stockholders' equity
Balance		$ (398,843)			(398,843)	(393,675)	(383,290)	(383,290)	(383,290)	(383,290)	(312,223)	(260,370)
Net loss						(5,168)	(10,385)			(25,412)	(71,067)	(51,853)
Balance						(398,843)	(393,675)	(398,843)		(408,702)	(383,290)	(312,223)
Public offering
Increase (decrease) in stockholders' equity
Issuance of common stock										3	$ 11,898	$ 48,435
Issuance of common stock (in shares) | shares	7,518,334	7,518,334
Public offering | Common stock
Increase (decrease) in stockholders' equity
Issuance of common stock										$ 3
Issuance of common stock (in shares) | shares	19,148,332	19,148,332	666,666							26,666,666	666,666	431,250
Public offering | Additional Paid in Capital.
Increase (decrease) in stockholders' equity
Issuance of common stock											$ 11,898	$ 48,435
At-the-market sales
Increase (decrease) in stockholders' equity
Issuance of common stock						12,226	$ 348			$ 13,457	$ 9,266
At-the-market sales | Common stock
Increase (decrease) in stockholders' equity
Issuance of common stock					$ 3	$ 1				$ 1
Issuance of common stock (in shares) | shares				172,879	26,666,666	8,687,502	25,623			12,655,773	172,879
At-the-market sales | Additional Paid in Capital.
Increase (decrease) in stockholders' equity
Issuance of common stock					$ (3)	$ 12,225	$ 348			$ 13,456	$ 9,266
Error Correction, Accounting for Warrants | As Previously Reported
Increase (decrease) in stockholders' equity
Balance		$ 3,419			3,419	2,743	9,271	9,271	9,271	$ 9,271	49,328
Share-based compensation - stock options and RSUs						669	764				3,338
Issuance of common stock						12,226
Issuance of common stock upon exercise of options											75
Warrants issued in connection with long-term debt											1,080
Unrealized net gain on marketable securities											(3)
Net loss					(19,666)	(12,219)	(11,769)	(23,988)	(43,652)		(74,894)
Balance					6,260	$ 3,419	$ 2,743	$ 3,419	$ 6,260		$ 9,271	$ 49,328
Error Correction, Accounting for Warrants | As Previously Reported | Common stock
Increase (decrease) in stockholders' equity
Balance		$ 1			$ 1
Balance (in shares) | shares		12,360,157			12,360,157	3,365,422	3,034,901	3,034,901	3,034,901	3,034,901	2,189,100
Issuance of common stock						$ 1
Issuance of common stock (in shares) | shares						8,687,502
Issuance of common stock upon exercise of options (in shares) | shares											3,160
Vesting of RSUs (in shares) | shares						4,118	1,773				3,096
Balance					$ 4	$ 1		$ 1	$ 4
Balance (in shares) | shares					39,026,823	12,360,157	3,365,422	12,360,157	39,026,823		3,034,901	2,189,100
Error Correction, Accounting for Warrants | As Previously Reported | Additional Paid in Capital.
Increase (decrease) in stockholders' equity
Balance		$ 414,523			$ 414,523	$ 400,742	$ 396,388	$ 396,388	$ 396,388	$ 396,388	$ 361,548
Share-based compensation - stock options and RSUs					536	669	764				3,338
Issuance of common stock						12,225
Issuance of common stock upon exercise of options											75
Warrants issued in connection with long-term debt											1,080
Balance					437,027	414,523	400,742	414,523	437,027		396,388	$ 361,548
Error Correction, Accounting for Warrants | As Previously Reported | Accumulated Other Comprehensive Income
Increase (decrease) in stockholders' equity
Balance											3
Unrealized net gain on marketable securities											(3)
Balance												3
Error Correction, Accounting for Warrants | As Previously Reported | Accumulated Deficit
Increase (decrease) in stockholders' equity
Balance		(411,105)			(411,105)	(398,886)	(387,117)	(387,117)	(387,117)	(387,117)	(312,223)
Net loss						(12,219)	(11,769)				(74,894)
Balance						(411,105)	(398,886)	(411,105)			(387,117)	$ (312,223)
Error Correction, Accounting for Warrants | As Previously Reported | Public offering
Increase (decrease) in stockholders' equity
Issuance of common stock											$ 21,081
Error Correction, Accounting for Warrants | As Previously Reported | Public offering | Common stock
Increase (decrease) in stockholders' equity
Issuance of common stock (in shares) | shares											666,666
Error Correction, Accounting for Warrants | As Previously Reported | Public offering | Additional Paid in Capital.
Increase (decrease) in stockholders' equity
Issuance of common stock											$ 21,081
Error Correction, Accounting for Warrants | As Previously Reported | At-the-market sales
Increase (decrease) in stockholders' equity
Issuance of common stock							$ 348				$ 9,266
Error Correction, Accounting for Warrants | As Previously Reported | At-the-market sales | Common stock
Increase (decrease) in stockholders' equity
Issuance of common stock					$ 3
Issuance of common stock (in shares) | shares					26,666,666		25,623				172,879
Error Correction, Accounting for Warrants | As Previously Reported | At-the-market sales | Additional Paid in Capital.
Increase (decrease) in stockholders' equity
Issuance of common stock					$ 21,968		$ 348				$ 9,266
Error Correction, Accounting for Warrants | Error Correction, Adjustment
Increase (decrease) in stockholders' equity
Balance		(1,050)			(1,050)	(8,101)	$ (5,356)	$ (5,356)	$ (5,356)	$ (5,356)
Balance (in shares) | shares							(5,356,000)	(5,356,000)	(5,356,000)	(5,356,000)
Net loss					13,736	7,051	$ 1,384	$ 8,435	$ 22,171		3,827
Balance					(9,285)	(1,050)	(8,101)	(1,050)	(9,285)		$ (5,356)
Balance (in shares) | shares											(5,356,000)
Error Correction, Accounting for Warrants | Error Correction, Adjustment | Additional Paid in Capital.
Increase (decrease) in stockholders' equity
Balance		(13,312)			(13,312)	(12,425)	$ (9,183)	$ (9,183)	$ (9,183)	$ (9,183)
Balance (in shares) | shares							(9,183,000)	(9,183,000)	(9,183,000)	(9,183,000)
Balance					(35,283)	(13,312)	$ (12,425)	$ (13,312)	$ (35,283)		$ (9,183)
Balance (in shares) | shares											(9,183,000)
Error Correction, Accounting for Warrants | Error Correction, Adjustment | Accumulated Deficit
Increase (decrease) in stockholders' equity
Balance		$ 12,262			12,262	5,211	$ 3,827	$ 3,827	$ 3,827	$ 3,827
Balance (in shares) | shares							3,827,000	3,827,000	3,827,000	3,827,000
Net loss						7,051	$ 1,384				$ 3,827
Balance						$ 12,262	$ 5,211	$ 12,262			$ 3,827
Balance (in shares) | shares											3,827,000
Error Correction, Accounting for Warrants | Error Correction, Adjustment | Public offering
Increase (decrease) in stockholders' equity
Issuance of common stock											$ (9,183)
Error Correction, Accounting for Warrants | Error Correction, Adjustment | Public offering | Additional Paid in Capital.
Increase (decrease) in stockholders' equity
Issuance of common stock											$ (9,183)
Error Correction, Accounting for Warrants | Error Correction, Adjustment | At-the-market sales | Additional Paid in Capital.
Increase (decrease) in stockholders' equity
Issuance of common stock					$ (21,971)