Liquidity (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 11, 2021	Dec. 10, 2021	Jun. 30, 2020	Jun. 12, 2020
Subsidiary, Sale of Stock [Line Items]
Net loss	$ 16,540,000	$ 27,128,000
Net cash provided by (used in) operating activities	15,098,000	$ 24,163,000
Unrestricted cash and cash equivalents	20,300,000
Shelf Registration
Subsidiary, Sale of Stock [Line Items]
Sale of securities, authorized amount					$ 125,000,000
ATM Facility
Subsidiary, Sale of Stock [Line Items]
Sale of securities, authorized amount						$ 50,000,000
Amount remaining	47,800,000
Western Alliance Bank
Subsidiary, Sale of Stock [Line Items]
Line of credit maximum amount	10,000,000		$ 10,000,000	$ 7,000,000
Line of credit current availability	6,100,000
Line of credit balance outstanding	$ 0