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Stockholders' Equity - Summary of the share activity under the 2015 Plan (Details) - 2015 Equity Incentive Plan - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2022
Dec. 31, 2021
Number of shares    
Outstanding at the beginning 4,560  
Granted 627  
Exercised (308)  
Forfeited (191)  
Expired (453)  
Outstanding at the end 4,235 4,560
Expected to vest 4,235  
Exercisable 3,288  
Weighted Average Exercise Price    
Outstanding at the beginning (in dollars per share) $ 6.29  
Granted (in dollars per share) 4.19  
Exercised (in dollars per share) 1.02  
Forfeited (in dollars per share) 6.37  
Expired (in dollars per share) 7.48  
Outstanding at the end (in dollars per share) 6.23 $ 6.29
Expected to vest (in dollars per share) 6.23  
Exercisable (in dollars per share) $ 6.19  
Weighted Average Remaining Contractual Term    
Weighted Average Remaining Term (in years) 3 years 8 months 26 days 3 years 25 days
Vested and expected to vest (in years) 3 years 8 months 26 days  
Exercisable (in years) 2 years 2 months 8 days  
Aggregate Intrinsic Value    
Outstanding $ 177 $ 2,670
Expected to vest 177  
Exercisable $ 177