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Convertible Notes, Second JDH Note (Details)
$ in Thousands
12 Months Ended
Mar. 10, 2022
USD ($)
Jan. 26, 2022
USD ($)
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Adjustment
Dec. 31, 2020
USD ($)
Apr. 10, 2020
USD ($)
Convertible Notes [Abstract]            
Prepayment of convertible notes     $ 10,000 $ 13,950 $ 0  
Balance outstanding     235,603 218,551    
Convertible notes     10,833 $ 7,573    
Number of adjustments to adopt accounting standard | Adjustment       2    
Additional paid-in capital     583,691 $ 597,723    
Accumulated deficit     (361,994) (353,249)    
ASU 2020-06 [Member] | Cumulative Adjustment [Member]            
Convertible Notes [Abstract]            
Convertible notes       10,949    
Additional paid-in capital       (21,165)    
Accumulated deficit       (10,216)    
Second JDH Note [Member]            
Convertible Notes [Abstract]            
Applicable Limit           $ 21,165
Accrued and unpaid interest         $ 1,326  
Change in fair value of conversion option     323 $ 2,549    
Prepayment of convertible notes $ 5,000 $ 5,000        
Balance outstanding     $ 11,165