Stockholders' Equity - Schedule of Stock Options Activity (Details) - 2015 Equity Incentive Plan - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Number of shares
Outstanding at the beginning (in shares)	4,560
Granted (in shares)	2,365
Exercised (in shares)	(412)
Forfeited (in shares)	(360)
Expired (in shares)	(2,177)
Outstanding at the end (in shares)	3,976	4,560
Expected to vest (in shares)	3,976
Exercisable (in shares)	3,275
Weighted Average Exercise Price
Outstanding at the beginning (in dollars per share)	$ 6.29
Granted (in dollars per share)	4.78
Exercised (in dollars per share)	0.96
Forfeited (in dollars per share)	5.79
Expired (in dollars per share)	5.92
Outstanding at the end (in dollars per share)	6.20	$ 6.29
Expected to vest (in dollars per share)	6.20
Exercisable (in dollars per share)	$ 6.34
Weighted Average Remaining Term
Weighted average remaining term (in years)	3 years 9 months 18 days	3 years 25 days
Vested and expected to vest (in years)	3 years 9 months 18 days
Exercisable (in years)	2 years 8 months 12 days
Aggregate Intrinsic Value
Outstanding	$ 0	$ 2,670
Expected to vest	0
Exercisable	$ 0