Condensed Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands	Total	At The Market Sales Agreement	Public Offering	Common Stock [Member]	Common Stock [Member] At The Market Sales Agreement	Common Stock [Member] Public Offering	Additional Paid-in Capital [Member]	Additional Paid-in Capital [Member] At The Market Sales Agreement	Additional Paid-in Capital [Member] Public Offering	Accumulated Other Comprehensive Loss [Member]	Accumulated Deficit [Member]
Beginning Balance at Dec. 31, 2021	$ 17,075			$ 29			$ 197,963				$ (180,917)
Beginning Balance (in shares) at Dec. 31, 2021				28,505,804
Stock-based compensation	1,826						1,826
Issuance of common stock from exercise of stock options	139						139
Issuance of common stock from exercise of stock options (in shares)				51,005
Issuance of common stock, net of commissions and allocated fees, less issuance costs		$ (42)	$ 103,010			$ 19		$ (42)	$ 102,991
Issuance of common stock, net of commissions and allocated fees, less issuance costs (in shares)						18,833,196
Issuance of common stock from Employee Stock Purchase Plan	23						23
Issuance of common stock from Employee Stock Purchase Plan (in share)				33,972
Issuance of common stock from warrant exercise	11,782			$ 10			11,772
Issuance of common stock from warrant exercise (in shares)				10,898,540
Unrealized gains (losses) on available-for-sale marketable securities	(263)									$ (263)
Net loss	(23,647)										(23,647)
Ending Balance at Sep. 30, 2022	109,903			$ 58			314,672			(263)	(204,564)
Ending Balance (in shares) at Sep. 30, 2022				58,322,517
Beginning Balance at Jun. 30, 2022	60,515			$ 40			256,908			(135)	(196,298)
Beginning Balance (in shares) at Jun. 30, 2022				39,719,572
Stock-based compensation	569						569
Issuance of common stock from exercise of stock options	139						139
Issuance of common stock from exercise of stock options (in shares)				51,005
Issuance of common stock, net of commissions and allocated fees, less issuance costs			$ 51,184			$ 14			$ 51,170
Issuance of common stock, net of commissions and allocated fees, less issuance costs (in shares)						14,252,670
Issuance of common stock from warrant exercise	5,890			$ 4			5,886
Issuance of common stock from warrant exercise (in shares)				4,299,270
Unrealized gains (losses) on available-for-sale marketable securities	(128)									(128)
Net loss	(8,266)										(8,266)
Ending Balance at Sep. 30, 2022	109,903			$ 58			314,672			(263)	(204,564)
Ending Balance (in shares) at Sep. 30, 2022				58,322,517
Beginning Balance at Dec. 31, 2022	107,459			$ 60			317,590			(122)	(210,069)
Beginning Balance (in shares) at Dec. 31, 2022				59,943,430
Stock-based compensation	1,713						1,713
Issuance of common stock from exercise of stock options	$ 73						73
Issuance of common stock from exercise of stock options (in shares)	143,789			143,789
Issuance of common stock, net of commissions and allocated fees, less issuance costs		1,671			$ 1			1,670
Issuance of common stock, net of commissions and allocated fees, less issuance costs (in shares)					750,000
Issuance of common stock from Employee Stock Purchase Plan	$ 33						33
Issuance of common stock from Employee Stock Purchase Plan (in share)				19,273
Issuance of common stock from pre-funded warrant exercise				$ 3			(3)
Issuance of common stock from pre-funded warrant exercise (in shares)				2,998,838
Unrealized gains (losses) on available-for-sale marketable securities	(95)									(95)
Net loss	(21,244)										(21,244)
Ending Balance at Sep. 30, 2023	89,610			$ 64			321,076			(217)	(231,313)
Ending Balance (in shares) at Sep. 30, 2023				63,855,330
Beginning Balance at Jun. 30, 2023	95,073			$ 63			318,873			(248)	(223,615)
Beginning Balance (in shares) at Jun. 30, 2023				63,098,455
Stock-based compensation	530						530
Issuance of common stock from exercise of stock options	3						3
Issuance of common stock from exercise of stock options (in shares)				6,875
Issuance of common stock, net of commissions and allocated fees, less issuance costs		$ 1,671			$ 1			$ 1,670
Issuance of common stock, net of commissions and allocated fees, less issuance costs (in shares)					750,000
Unrealized gains (losses) on available-for-sale marketable securities	31									31
Net loss	(7,698)										(7,698)
Ending Balance at Sep. 30, 2023	$ 89,610			$ 64			$ 321,076			$ (217)	$ (231,313)
Ending Balance (in shares) at Sep. 30, 2023				63,855,330