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Stock-Based Compensation - Service Based Stock Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2021
Shares Underlying Options      
Outstanding at the end of the period (in shares) 1,367,493 1,311,691  
Stock Option Awards      
Shares Underlying Options      
Outstanding at the beginning of the period (in shares) 1,206,905 528,591  
Granted (in shares) 382,745 898,659  
Forfeited (in shares) (143,430) (30,093)  
Expired (in shares) (78,727) (85,466)  
Outstanding at the end of the period (in shares) 1,367,493 1,311,691 528,591
Exercisable at end of period (in shares) 444,836 243,973  
Weighted Average Exercise Price      
Outstanding at the beginning of the period (in dollars per share) $ 8.32 $ 32.01  
Granted (in dollars per share) 1.48 1.49  
Forfeited (in dollars per share) 2.82 15.11  
Expired (in dollar per share) 26.74 82.09  
Outstanding at the end of the period (in dollars per share) 5.93 8.23 $ 32.01
Exercisable at end of the period (in dollars per share) $ 14.64 $ 29.31  
Weighted Average Remaining Contractual Term      
Outstanding 8 years 4 months 24 days 9 years 1 month 6 days 7 years 6 months
Granted   5 years 6 months  
Exercisable at end of the period 7 years 6 years 10 months 24 days  
Aggregate Intrinsic Value      
Outstanding $ 680    
Exercisable at end of the period $ 114