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Organization and Basis of Presentation (Details) $ in Thousands			3 Months Ended
	Oct. 26, 2022 shares	Nov. 22, 2021 USD ($)	Mar. 31, 2023 USD ($) shares	Mar. 31, 2022	Dec. 31, 2022 USD ($) shares	Mar. 30, 2021 shares	Mar. 29, 2021 shares
Line of Credit Facility [Line Items]
Accumulated deficit			$ 590,895		$ 581,324
Cash and cash equivalents and investments			37,800
Restricted cash			$ 462		$ 462
Stock split, conversion ratio	0.04		0.04	0.04
Common stock, shares authorized (in shares) \| shares	20,000,000		20,000,000		20,000,000	300,000,000	200,000,000
Term Loan \| MidCap Financial Services, LLC Term Loan \| MidCap Financial Services, LLC
Line of Credit Facility [Line Items]
Credit facility term		5 years
Debt instrument principal		$ 21,000