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Stockholders' Equity - Equity Offerings (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Apr. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Apr. 17, 2019
Stockholders' Equity          
Common stock authorized (in shares)   200,000,000 200,000,000    
Preferred stock authorized (in shares)   5,000,000 5,000,000    
Warrants to purchase shares of common stock   4,994,774 11,014    
Net proceeds from the offering     $ 7,948    
R-Bridge Financing | Royalty Based Loan Agreement          
Stockholders' Equity          
Warrants to purchase shares of common stock 200,000        
Warrants term 3 years        
Exercise price (in dollars per share) $ 20.50        
R-Bridge Financing | Royalty Based Loan Agreement - First Tranche          
Stockholders' Equity          
Proceeds from royalty-based loan agreement $ 15,000        
HCW ATM Program          
Stockholders' Equity          
Issuance of stock (in shares)   0      
Stock available for further issuance   $ 41,900      
HCW ATM Program | Maximum          
Stockholders' Equity          
Offering amount       $ 50,000 $ 50,000