Stock-Based Compensation - Stock-Based Compensation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Stock-Based Compensation
Total stock-based compensation expense	$ 3,318	$ 3,974
Research and development expense
Stock-Based Compensation
Total stock-based compensation expense	1,263	1,319
Sales and marketing expense
Stock-Based Compensation
Total stock-based compensation expense	267	319
General and administrative expense
Stock-Based Compensation
Total stock-based compensation expense	1,788	$ 2,336
Stock options and RSUs
Stock-Based Compensation
Unrecognized stock-based compensation expense	$ 2,700
Expected weighted average period to be recognized	1 year 8 months 12 days
Employee stock options
Estimated grant-date fair value of stock options calculated using the Black-Scholes option-pricing model
Volatility (as a percent)	164.00%
Expected term (years)	5 years	5 years
Risk-free interest rate (as a percent)	3.20%
Minimum | Employee stock options
Estimated grant-date fair value of stock options calculated using the Black-Scholes option-pricing model
Volatility (as a percent)		163.80%
Risk-free interest rate (as a percent)		0.50%
Maximum | Employee stock options
Estimated grant-date fair value of stock options calculated using the Black-Scholes option-pricing model
Volatility (as a percent)		164.00%
Risk-free interest rate (as a percent)		1.20%