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Stockholders' Equity - Share Activity and Employee Stock Purchase Plan Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Class of Stock [Line Items]    
Proceeds from stock options exercised $ 0 $ 26
Stock options    
Class of Stock [Line Items]    
Weighted average grant date fair value of employee stock options (in dollars per share) $ 2.00 $ 10.26
Issuance of common stock upon exercise of options (in shares) 0  
Total intrinsic value of stock options exercised   $ 100
Proceeds from stock options exercised   $ 100
Compensation cost related to non-vested awards not yet recognized $ 900  
Weighted-average recognition period of compensation cost related to non-vested awards not yet recognized 1 year 3 months 18 days  
RSUs outstanding    
Class of Stock [Line Items]    
Compensation cost related to non-vested awards not yet recognized $ 200  
Weighted-average recognition period of compensation cost related to non-vested awards not yet recognized 1 year 3 months 18 days