CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) $ in Thousands	Total	Series A Convertible Preferred Stock	Series B Convertible Preferred Stock	Preferred Stock Series A Convertible Preferred Stock	Preferred Stock Series B Convertible Preferred Stock	Common Stock	Treasury Stock	Additional Paid in Capital	Accumulated Other Comprehensive Income	Accumulated Deficit
Convertible preferred stock, beginning balance (in shares) at Dec. 31, 2021				7	54,745
Common stock, beginning balance (in shares) at Dec. 31, 2021						199,502,183
Beginning balance at Dec. 31, 2021	$ 91,200			$ 0	$ 1	$ 1,995	$ (48)	$ 225,537	$ 0	$ (136,285)
Increase (Decrease) in Stockholders' Equity
Stock-based compensation expense	3,299							3,299
Issuance of common stock for stock option exercises and restricted stock unit vesting, net (in shares)						277,323
Issuance of common stock for stock option exercises and restricted stock unit vesting, net	180					$ 3		177
Issuance of common stock for capital raises, net (in shares)						15,973,420
Issuance of common stock for capital raises, net	49,851					$ 160		49,691
Net loss	(19,015)									(19,015)
Convertible preferred stock, ending balance (in shares) at Mar. 31, 2022				7	54,745
Common stock, ending balance (in shares) at Mar. 31, 2022						215,752,926
Ending balance at Mar. 31, 2022	125,515			$ 0	$ 1	$ 2,158	(48)	278,704	0	(155,300)
Convertible preferred stock, beginning balance (in shares) at Dec. 31, 2021				7	54,745
Common stock, beginning balance (in shares) at Dec. 31, 2021						199,502,183
Beginning balance at Dec. 31, 2021	91,200			$ 0	$ 1	$ 1,995	(48)	225,537	0	(136,285)
Increase (Decrease) in Stockholders' Equity
Net loss	(40,497)
Convertible preferred stock, ending balance (in shares) at Jun. 30, 2022				0	54,745
Common stock, ending balance (in shares) at Jun. 30, 2022						216,271,262
Ending balance at Jun. 30, 2022	106,483			$ 0	$ 1	$ 2,163	(48)	281,139	10	(176,782)
Convertible preferred stock, beginning balance (in shares) at Dec. 31, 2021				7	54,745
Common stock, beginning balance (in shares) at Dec. 31, 2021						199,502,183
Beginning balance at Dec. 31, 2021	91,200			$ 0	$ 1	$ 1,995	(48)	225,537	0	(136,285)
Increase (Decrease) in Stockholders' Equity
Net loss	(64,410)
Convertible preferred stock, ending balance (in shares) at Sep. 30, 2022				0	54,745
Common stock, ending balance (in shares) at Sep. 30, 2022						216,809,937
Ending balance at Sep. 30, 2022	85,687			$ 0	$ 1	$ 2,168	(48)	284,231	30	(200,695)
Convertible preferred stock, beginning balance (in shares) at Dec. 31, 2021				7	54,745
Common stock, beginning balance (in shares) at Dec. 31, 2021						199,502,183
Beginning balance at Dec. 31, 2021	91,200			$ 0	$ 1	$ 1,995	(48)	225,537	0	(136,285)
Increase (Decrease) in Stockholders' Equity
Stock-based compensation expense	10,541							10,541
Issuance of common stock for stock option exercises and restricted stock unit vesting, net (in shares)						1,579,886
Issuance of common stock for stock option exercises and restricted stock unit vesting, net	1,262					$ 16		1,246
Issuance of common stock for capital raises, net (in shares)						20,635,998
Issuance of common stock for capital raises, net	$ 57,756					$ 206		57,550
Series A convertible preferred stock conversion (in shares)	3,115			(7)
Series A convertible preferred stock conversion	$ 0
Other comprehensive income (loss)	26								26
Net loss	$ (86,804)									(86,804)
Convertible preferred stock, ending balance (in shares) at Dec. 31, 2022		0	54,745	0	54,745
Common stock, ending balance (in shares) at Dec. 31, 2022	221,599,682					221,721,182
Ending balance at Dec. 31, 2022	$ 73,981			$ 0	$ 1	$ 2,217	(48)	294,874	26	(223,089)
Convertible preferred stock, beginning balance (in shares) at Mar. 31, 2022				7	54,745
Common stock, beginning balance (in shares) at Mar. 31, 2022						215,752,926
Beginning balance at Mar. 31, 2022	125,515			$ 0	$ 1	$ 2,158	(48)	278,704	0	(155,300)
Increase (Decrease) in Stockholders' Equity
Stock-based compensation expense	2,079							2,079
Issuance of common stock for stock option exercises and restricted stock unit vesting, net (in shares)						515,221
Issuance of common stock for stock option exercises and restricted stock unit vesting, net	361					$ 5		356
Series A convertible preferred stock conversion (in shares)				(7)		3,115
Other comprehensive income (loss)	10								10
Net loss	(21,482)									(21,482)
Convertible preferred stock, ending balance (in shares) at Jun. 30, 2022				0	54,745
Common stock, ending balance (in shares) at Jun. 30, 2022						216,271,262
Ending balance at Jun. 30, 2022	106,483			$ 0	$ 1	$ 2,163	(48)	281,139	10	(176,782)
Increase (Decrease) in Stockholders' Equity
Stock-based compensation expense	2,495							2,495
Issuance of common stock for stock option exercises and restricted stock unit vesting, net (in shares)						538,675
Issuance of common stock for stock option exercises and restricted stock unit vesting, net	602					$ 5		597
Other comprehensive income (loss)	20								20
Net loss	(23,913)									(23,913)
Convertible preferred stock, ending balance (in shares) at Sep. 30, 2022				0	54,745
Common stock, ending balance (in shares) at Sep. 30, 2022						216,809,937
Ending balance at Sep. 30, 2022	$ 85,687			$ 0	$ 1	$ 2,168	(48)	284,231	30	(200,695)
Convertible preferred stock, beginning balance (in shares) at Dec. 31, 2022		0	54,745	0	54,745
Common stock, beginning balance (in shares) at Dec. 31, 2022	221,599,682					221,721,182
Beginning balance at Dec. 31, 2022	$ 73,981			$ 0	$ 1	$ 2,217	(48)	294,874	26	(223,089)
Increase (Decrease) in Stockholders' Equity
Stock-based compensation expense	2,689							2,689
Issuance of common stock for stock option exercises and restricted stock unit vesting, net (in shares)						348,555
Issuance of common stock for stock option exercises and restricted stock unit vesting, net	(1)					$ 3		(4)
Issuance of common stock for capital raises, net (in shares)						4,478,956
Issuance of common stock for capital raises, net	5,559					$ 45		5,514
Other comprehensive income (loss)	(1)								(1)
Net loss	(17,326)									(17,326)
Convertible preferred stock, ending balance (in shares) at Mar. 31, 2023				0	54,745
Common stock, ending balance (in shares) at Mar. 31, 2023						226,548,693
Ending balance at Mar. 31, 2023	$ 64,901			$ 0	$ 1	$ 2,265	(48)	303,073	25	(240,415)
Convertible preferred stock, beginning balance (in shares) at Dec. 31, 2022		0	54,745	0	54,745
Common stock, beginning balance (in shares) at Dec. 31, 2022	221,599,682					221,721,182
Beginning balance at Dec. 31, 2022	$ 73,981			$ 0	$ 1	$ 2,217	(48)	294,874	26	(223,089)
Increase (Decrease) in Stockholders' Equity
Net loss	(40,391)
Convertible preferred stock, ending balance (in shares) at Jun. 30, 2023				0	54,745
Common stock, ending balance (in shares) at Jun. 30, 2023						256,608,552
Ending balance at Jun. 30, 2023	$ 59,242			$ 0	$ 1	$ 2,566	(48)	320,181	22	(263,480)
Convertible preferred stock, beginning balance (in shares) at Dec. 31, 2022		0	54,745	0	54,745
Common stock, beginning balance (in shares) at Dec. 31, 2022	221,599,682					221,721,182
Beginning balance at Dec. 31, 2022	$ 73,981			$ 0	$ 1	$ 2,217	(48)	294,874	26	(223,089)
Increase (Decrease) in Stockholders' Equity
Net loss	(52,108)
Convertible preferred stock, ending balance (in shares) at Sep. 30, 2023				0	54,745
Common stock, ending balance (in shares) at Sep. 30, 2023						256,621,487
Ending balance at Sep. 30, 2023	$ 49,801			$ 0	$ 1	$ 2,566	(48)	322,452	27	(275,197)
Convertible preferred stock, beginning balance (in shares) at Dec. 31, 2022		0	54,745	0	54,745
Common stock, beginning balance (in shares) at Dec. 31, 2022	221,599,682					221,721,182
Beginning balance at Dec. 31, 2022	$ 73,981			$ 0	$ 1	$ 2,217	(48)	294,874	26	(223,089)
Increase (Decrease) in Stockholders' Equity
Stock-based compensation expense	9,217							9,217
Issuance of common stock for stock option exercises and restricted stock unit vesting, net (in shares)						488,166
Issuance of common stock for stock option exercises and restricted stock unit vesting, net	124					$ 5		119
Issuance of common stock for capital raises, net (in shares)						34,478,956
Issuance of common stock for capital raises, net	20,326					$ 345		19,981
Other comprehensive income (loss)	(6)								(6)
Net loss	$ (63,078)									(63,078)
Convertible preferred stock, ending balance (in shares) at Dec. 31, 2023		0	54,745	0	54,745
Common stock, ending balance (in shares) at Dec. 31, 2023	256,566,804					256,688,304
Ending balance at Dec. 31, 2023	$ 40,564			$ 0	$ 1	$ 2,567	(48)	324,191	20	(286,167)
Convertible preferred stock, beginning balance (in shares) at Mar. 31, 2023				0	54,745
Common stock, beginning balance (in shares) at Mar. 31, 2023						226,548,693
Beginning balance at Mar. 31, 2023	64,901			$ 0	$ 1	$ 2,265	(48)	303,073	25	(240,415)
Increase (Decrease) in Stockholders' Equity
Stock-based compensation expense	2,632							2,632
Issuance of common stock for stock option exercises and restricted stock unit vesting, net (in shares)						59,859
Issuance of common stock for stock option exercises and restricted stock unit vesting, net	10					$ 1		9
Issuance of common stock for capital raises, net (in shares)						30,000,000
Issuance of common stock for capital raises, net	14,767					$ 300		14,467
Other comprehensive income (loss)	(3)								(3)
Net loss	(23,065)									(23,065)
Convertible preferred stock, ending balance (in shares) at Jun. 30, 2023				0	54,745
Common stock, ending balance (in shares) at Jun. 30, 2023						256,608,552
Ending balance at Jun. 30, 2023	59,242			$ 0	$ 1	$ 2,566	(48)	320,181	22	(263,480)
Increase (Decrease) in Stockholders' Equity
Stock-based compensation expense	2,174							2,174
Issuance of common stock for stock option exercises and restricted stock unit vesting, net (in shares)						12,935
Issuance of common stock for stock option exercises and restricted stock unit vesting, net	97							97
Other comprehensive income (loss)	5								5
Net loss	(11,717)									(11,717)
Convertible preferred stock, ending balance (in shares) at Sep. 30, 2023				0	54,745
Common stock, ending balance (in shares) at Sep. 30, 2023						256,621,487
Ending balance at Sep. 30, 2023	$ 49,801			$ 0	$ 1	$ 2,566	$ (48)	$ 322,452	$ 27	$ (275,197)