Description of Business and Basis of Presentation (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Cash and cash equivalents	$ 14,149		$ 1,759
Accumulated deficit	1,132,917		$ 1,120,676
Net loss	12,241	$ 15,950
Total cash used in operating activities	$ 6,572	$ 11,049