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Stock-Based Compensation Expense - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares granted     1,976,180    
Common stock shares issued 49,545,039   49,545,039   31,827,659
Stock-based compensation expense $ 1,354 $ 1,107 $ 2,964 $ 1,951  
Exercise price per share, granted     $ 2.85    
Weighted-average fair value of options granted to employees, directors and non-employees $ 2.24 $ 3.73 $ 2.07 $ 3.24  
Stock Options          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unrecognized expense $ 9,900   $ 9,900    
Unrecognized share based compensation amount recognition term     2 years 5 months 15 days    
Restricted Stock Units          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unrecognized expense $ 700   $ 700    
Unrecognized share based compensation amount recognition term     3 years 5 months 23 days    
2020 Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares available for grant     1,182,286    
Inducement Award Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares available for grant     170,000