Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Comprehensive Deficit
BALANCE, at beginning of period (in shares) at Dec. 31, 2021		54,259,000
BALANCE, at beginning of period at Dec. 31, 2021	$ 100,560	$ 54	$ 352,779	$ (252,273)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Restricted stock grants, net of cancellations (in shares)		1,132,000
Restricted stock grants, net of cancellations	2,709	$ 1	2,708
Employee stock purchase plan shares issued (in shares)		6,000
Employee stock purchase plan shares issued	19		19
Cancellation of shares for payment of withholding tax (in shares)		(285,000)
Cancellation of shares for payment of withholding tax	(925)		(925)
Exercise of stock options (in shares)		8,000
Exercise of stock options	16		16
Net loss	(15,496)			(15,496)
BALANCE, at end of period (in shares) at Jun. 30, 2022		55,120,000
BALANCE, at end of period at Jun. 30, 2022	86,928	$ 55	354,641	(267,768)
BALANCE, at beginning of period (in shares) at Mar. 31, 2022		55,156,000
BALANCE, at beginning of period at Mar. 31, 2022	94,183	$ 55	353,403	(259,275)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Non-cash compensation recognized on stock options and ESPP	23		23
Restricted stock grants, net of cancellations (in shares)		127,000
Restricted stock grants, net of cancellations	1,665	$ 0	1,665
Cancellation of shares for payment of withholding tax (in shares)		(164,000)
Cancellation of shares for payment of withholding tax	(452)		(452)
Exercise of stock options (in shares)		1,000
Exercise of stock options	2		2
Net loss	(8,493)			(8,493)
BALANCE, at end of period (in shares) at Jun. 30, 2022		55,120,000
BALANCE, at end of period at Jun. 30, 2022	$ 86,928	$ 55	354,641	(267,768)
BALANCE, at beginning of period (in shares) at Dec. 31, 2022	56,197,910	56,198,000
BALANCE, at beginning of period at Dec. 31, 2022	$ 76,379	$ 56	357,875	(281,552)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Non-cash compensation recognized on stock options and ESPP	17		17
Restricted stock grants, net of cancellations (in shares)		1,262,000
Restricted stock grants, net of cancellations	1,959	$ 2	1,957
Employee stock purchase plan shares issued (in shares)		8,000
Employee stock purchase plan shares issued	8		8
Cancellation of shares for payment of withholding tax (in shares)		(179,000)
Cancellation of shares for payment of withholding tax	(291)		(291)
Common shares issued with debt conversion (in shares)		7,913,000
Common shares issued in settlement and prepayment of notes payable	8,968	$ 7	8,961
Net loss	$ (12,551)			(12,551)
BALANCE, at end of period (in shares) at Jun. 30, 2023	65,202,050	65,202,000
BALANCE, at end of period at Jun. 30, 2023	$ 74,489	$ 65	368,527	(294,103)
BALANCE, at beginning of period (in shares) at Mar. 31, 2023		60,596,000
BALANCE, at beginning of period at Mar. 31, 2023	73,885	$ 61	362,262	(288,438)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Non-cash compensation recognized on stock options and ESPP	6		6
Restricted stock grants, net of cancellations (in shares)		(2,000)
Restricted stock grants, net of cancellations	1,024	$ 0	1,024
Cancellation of shares for payment of withholding tax (in shares)		(68,000)
Cancellation of shares for payment of withholding tax	(80)		(80)
Common shares issued with debt conversion (in shares)		4,676,000
Common shares issued in settlement and prepayment of notes payable	5,319	$ 4	5,315
Net loss	$ (5,665)			(5,665)
BALANCE, at end of period (in shares) at Jun. 30, 2023	65,202,050	65,202,000
BALANCE, at end of period at Jun. 30, 2023	$ 74,489	$ 65	$ 368,527	$ (294,103)