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Stock Incentive Plans - Stock option activity (Details) - Stock options - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Shares    
Outstanding, beginning of year (in shares) 1,346,733  
Granted (in shares) 991,981  
Exercised (in shares) (27,333)  
Cancelled or forfeited (in shares) (56,818)  
Expired (in shares) (1,132)  
Outstanding, end of year (in shares) 2,253,431 1,346,733
Vested and exercisable (in shares) 615,382  
Vested and expected to vest (in shares) 2,253,431  
Weighted-Average Exercise Price    
Outstanding, beginning of year (in dollars per share) $ 22.25  
Granted (in dollars per share) 6.06  
Exercised (in dollars per share) 3.03  
Cancelled or forfeited (in dollars per share) 17.12  
Expired (in dollars per share) 137.57  
Outstanding at end of year (in dollars per share) 15.43 $ 22.25
Vested and exercisable at end of year (in dollars per share) 28.74  
Vested and expected to vest at end of the year (in dollars per share) $ 15.43  
Weighted Average Remaining Contractual Term (years)    
Outstanding 8 years 6 months 25 days 9 years 7 days
Vested and exercisable 7 years 9 months 14 days  
Vested and expected to vest 8 years 6 months 25 days  
Aggregate Intrinsic Value    
Outstanding $ 9,733 $ 168
Vested and exercisable 705  
Vested and expected to vest 9,733  
Additional disclosures    
Intrinsic value of options exercised $ 210 $ 45
Weighted average grant date fair value of options granted (in dollars per share) $ 3.82 $ 9.82
Unrecognized compensation expense related to unvested stock option awards $ 9,600  
Weighted-average amortization period over which cost is expected to be recognized 2 years 4 months 24 days