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Consolidated Statements of Stockholders' Equity (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
2019 Sales Agreement [Member]      
Stock issuance cost $ 164    
At The Market Offerings      
Stock issuance cost   $ 52 $ 151
At The Market Offerings | 2022 Sales Agreement [Member]      
Stock issuance cost 12,500    
Follow-on Offering [Member]      
Stock issuance cost $ 253 $ 284 $ 669