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Organization and Operations - Liquidity (Details) - USD ($)
$ in Thousands
9 Months Ended
Oct. 01, 2022
Sep. 30, 2022
Sep. 15, 2022
Dec. 31, 2021
Jun. 30, 2021
Liquidity          
Percentage of commission paid to underwriter based on proceeds from common stock   3.00%      
Accumulated deficit   $ 494,380   $ 455,809  
Cash, cash equivalents and short-term investments   $ 116,600      
Jefferies | ATM          
Liquidity          
Maximum aggregate value of common shares which can be issued under the agreement     $ 50,000   $ 25,000
Number of shares issued   2,715,166      
Gross proceeds from issuance of stock   $ 25,000      
Net proceeds from issuance of common stock   $ 24,300      
Jefferies | ATM | Subsequent Event          
Liquidity          
Gross proceeds from issuance of stock $ 13,100        
Net proceeds from issuance of common stock $ 12,700