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Organization - Public Offerings (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Nov. 08, 2019
Apr. 26, 2016
Mar. 29, 2016
Sep. 30, 2021
Feb. 28, 2021
Mar. 31, 2018
Dec. 31, 2021
Dec. 31, 2022
Public Offerings                
Proceeds from sale of stock             $ 31,989  
Accumulated deficit             $ 266,381 $ 307,688
Cash, cash equivalents and short-term marketable securities               $ 42,300
Issuance of common stock       1,457,947        
Common stock, par value (in dollars per share)             $ 0.0001 $ 0.0001
Exchange Warrants                
Public Offerings                
Issuance of common stock 1,458,000              
Common stock, par value (in dollars per share) $ 0.0001              
Exchange warrants issued 1,458,000              
Warrant exercise price $ 0.0001              
Percentage of shares owned by exchanging shareholders 9.99%              
Follow-on Public Offering                
Public Offerings                
Share offering price         $ 3.50 $ 8.50    
Proceeds from sale of stock         $ 32,000 $ 64,900    
Issuance of common stock         9,783,660 8,117,647    
Over-Allotment Option                
Public Offerings                
Share offering price   $ 15.00            
Issuance of common stock   502,618     1,212,231 1,058,823    
IPO                
Public Offerings                
Share offering price     $ 15.00          
Net proceeds from IPO   $ 70,600            
Issuance of common stock     4,700,000