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Stock-Based Compensation - Summary of Stock Option Activity (Details) - 2011 Plan, 2019 Plan and Inducement Plan - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding Options, Number of Shares, Beginning Balance 5,451,132  
Outstanding Options, Number of Shares, granted 2,076,000  
Outstanding Options, Number of Shares, forfeited or expired (173,221)  
Outstanding Options, Number of Shares, Ending Balance 7,353,911 5,451,132
Options vested and exercisable, Number of Shares 3,871,448  
Outstanding Options, Weighted-Average Exercise Price, Beginning Balance $ 9.90  
Outstanding Options, Weighted-Average Exercise Price, granted 2.76  
Outstanding Options, Weighted-Average Exercise Price, forfeited or expired 12.67  
Outstanding Options, Weighted-Average Exercise Price, Ending Balance 7.82 $ 9.90
Options vested and exercisable, Weighted-Average Exercise Price $ 9.19  
Outstanding Options, Weighted-Average Remaining Contractual Term (in years) 6 years 3 months 3 days 5 years 3 months 21 days
Options vested and exercisable, Weighted-Average Remaining Contractual Term (in years) 3 years 4 months 13 days  
Outstanding Options, Aggregate Intrinsic Value $ 202 $ 7
Options vested and exercisable, Aggregate Intrinsic Value $ 177