Equity Incentive Plans - Summary of Options Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Summary of the activity of stock option awards, shares
Options outstanding, Beginning Balance (in Shares)	1,847,000
Options granted (in shares)	342,000	500,000	500,000
Options exercised (in Shares)	(10,000)
Options forfeited/canceled (in shares)	(294,000)
Options outstanding, Ending Balance (in Shares)	1,885,000	1,847,000
Options vested and expected to vest (in Shares)	1,826,000
Options exercisable (in Shares)	1,200,000
Summary of the activity of stock option awards, weighted average exercise price
Options outstanding, Beginning Balance, Wtd. Avg. Exercise Price (in dollars per share)	$ 19.92
Options granted, Wtd. Avg. Exercise Price (in dollars per share)	5.76
Options exercised, Wtd. Avg. Exercise Price (in dollars per share)	7.52
Options forfeited/canceled, Wtd. Avg. Exercise Price (in dollars per share)	16.07
Options outstanding, Ending Balance, Wtd. Avg. Exercise Price (in dollars per share)	18.03	$ 19.92
Options vested and expected to vest, Wtd. Average Exercise Price (in dollars per share)	18.37
Options exercisable, Wtd. Avg. Exercise Price (in dollars per share)	$ 22.94
Options outstanding, Ending Balance, Wtd. Avg. Remaining Contractual Term	5 years 11 months 4 days	6 years 2 months 23 days
Options vested and expected to vest, Wtd. Avg Remaining Contractual Term	5 years 10 months 6 days
Options exercisable, Wtd. Avg. Remaining Contractual Term	4 years 7 months 17 days
Options outstanding, Beginning Balance, Average Intrinsic Value	$ 73
Options outstanding, Ending Balance, Average Intrinsic Value	2,374	$ 73
Options vested and expected to vest at December 31, 2022	2,141
Options exercisable at December 31, 2022	212
Intrinsic value of options exercised	24
Fair value of shares vested	$ 600	$ 925	$ 1,061