CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) $ in Thousands	Total	Series A, B, C and D Convertible Preferred Stock [Member]	Common Stock [Member]	Common Stock [Member] Restricted Stock Units (RSUs) [Member]	Additional Paid-in Capital [Member]	Accumulated Deficit [Member]	Accumulated Other Comprehensive Income (Loss) [Member]
Balances at Dec. 31, 2021	$ 88,289	$ 3	$ 32		$ 455,719	$ (367,463)	$ (2)
Balances, Shares at Dec. 31, 2021		3,218,152	32,393,738
Issuance of common stock upon the exercise of stock options	419				419
Issuance of common stock upon the exercise of stock options, shares			56,120
Issuance of common stock upon the vesting of restricted stock units, shares				75,287
Issuance of common stock, net of issuance costs	10,331		$ 5		10,326
Issuance of common stock, net of issuance costs, shares			3,964,478
Conversion of convertible preferred stock to common stock	3	$ (3)	$ 6
Conversion of convertible preferred stock to common stock, shares		(3,218,152)	6,367,000
Share-based compensation expense	6,626				6,626
Unrealized loss on available-for-sale securities	2						2
Net loss	(73,186)					(73,186)
Balances at Sep. 30, 2022	32,484	$ 0	$ 43		473,090	(440,649)
Balances, Shares at Sep. 30, 2022			42,856,623
Balances at Jun. 30, 2022	35,923	$ 2	$ 35		464,860	(428,974)
Balances, Shares at Jun. 30, 2022		2,275,214	35,067,477
Issuance of common stock upon the exercise of stock options	0				0
Issuance of common stock upon the exercise of stock options, shares			0
Issuance of common stock upon the vesting of restricted stock units, shares				75,287
Issuance of common stock, net of issuance costs	6,128		$ 4		6,124
Issuance of common stock, net of issuance costs, shares			3,226,859
Conversion of convertible preferred stock to common stock	2	$ (2)	$ 4
Conversion of convertible preferred stock to common stock, shares		(2,275,214)	4,487,000
Share-based compensation expense	2,106				2,106
Unrealized loss on available-for-sale securities	0						$ 0
Net loss	(11,675)					(11,675)
Balances at Sep. 30, 2022	32,484	$ 0	$ 43		473,090	(440,649)
Balances, Shares at Sep. 30, 2022			42,856,623
Balances at Dec. 31, 2022	$ 75,934		$ 52		489,760	(413,878)
Balances, Shares at Dec. 31, 2022		0	52,456,195
Issuance of common stock upon the exercise of stock options, shares	0
Issuance of common stock upon the vesting of restricted stock units	$ 1			$ 1
Issuance of common stock upon the vesting of restricted stock units, shares				398,646
Issuance of common stock, net of issuance costs	220				220
Issuance of common stock, net of issuance costs, shares			144,476
Share-based compensation expense	5,935				5,935
Unrealized loss on available-for-sale securities	0
Net loss	(28,385)					(28,385)
Balances at Sep. 30, 2023	53,705		$ 53		495,915	(442,263)
Balances, Shares at Sep. 30, 2023			52,999,317
Balances at Jun. 30, 2023	54,782		$ 53		493,787	(439,058)
Balances, Shares at Jun. 30, 2023		0	52,571,813
Issuance of common stock upon the vesting of restricted stock units	0			$ 0
Issuance of common stock upon the vesting of restricted stock units, shares				283,028
Issuance of common stock, net of issuance costs	220				220
Issuance of common stock, net of issuance costs, shares			144,476
Share-based compensation expense	1,908				1,908
Unrealized loss on available-for-sale securities	0
Net loss	(3,205)					(3,205)
Balances at Sep. 30, 2023	$ 53,705		$ 53		$ 495,915	$ (442,263)
Balances, Shares at Sep. 30, 2023			52,999,317