The Company and Basis of Presentation (Details) $ / shares in Units, patient in Thousands, $ in Thousands			1 Months Ended	9 Months Ended		12 Months Ended
	Mar. 22, 2023 USD ($) $ / shares shares	Mar. 19, 2023 USD ($) $ / shares shares	Aug. 31, 2019 patient	Sep. 30, 2023 USD ($) $ / shares shares	Sep. 30, 2022 USD ($)	Dec. 31, 2020 product	Mar. 23, 2023 $ / shares	Dec. 31, 2022 $ / shares shares	Dec. 31, 2021 $ / shares
Collaborations with Third Parties
Products approved | product						2
Study patients enrolled | patient			14
Common stock, issued (in shares) | shares				114,130,645				76,564,396
Common stock, par value (in dollars per share)				$ 0.001				$ 0.001
Proceeds from issuance of common stock, net of issuance costs | $				$ 4,448	$ 68,861
Securities Purchase Agreement
Collaborations with Third Parties
Common stock, issued (in shares) | shares		12,205,000
Common stock, par value (in dollars per share)		$ 0.001
Common stock purchasable under prefunded warrants (in shares) | shares		20,965,747
Common stock purchasable under warrants (in shares) | shares		33,170,747
Exercise price (in dollars per share)				$ 1.55
Securities Purchase Agreement | Common Stock And Accompanying Warrant
Collaborations with Third Parties
Purchase price (in dollars per share)		$ 1.675
Securities Purchase Agreement | Pre Funded Warrant And Accompanying Warrant
Collaborations with Third Parties
Purchase price (in dollars per share)		$ 1.674
Warrant Amendment Agreements
Collaborations with Third Parties
Common stock purchasable under warrants (in shares) | shares	9,024,212
Exercise price (in dollars per share)	$ 1.55			$ 1.55			$ 1.55		$ 9.00
Expiration term							3 years 6 months
Additional consideration (in dollars per share)	$ 0.125
Gross proceeds | $	$ 55,500	$ 1,200
Proceeds from issuance of common stock, net of issuance costs | $		$ 51,300
Proceeds from warrant amendment | $	$ 1,100