Warrants Schedule of Gain (Loss) on Warrants (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Schedule Of Common Stock Warrants [Line Items]
Change in fair value of warrant liability	$ 2,617	$ (2,284)	$ 509
2017 Placement Warrants Liability
Schedule Of Common Stock Warrants [Line Items]
Change in fair value of warrant liability	714	(1,705)	367
2016 Placement Warrants Liability
Schedule Of Common Stock Warrants [Line Items]
Change in fair value of warrant liability	$ 1,903	$ (579)	$ 142