Consolidated Statements of Shareholders' Equity (Deficit) - USD ($) shares in Thousands, $ in Thousands	Common Stock [Member]	Additional Paid-in Capital [Member]	Receivables from Stockholder [Member]	AOCI Attributable to Parent [Member]	Retained Earnings [Member]	Total
Balance at Dec. 31, 2020	$ 153	$ 601,224	$ (6,135)		$ (586,233)	$ 9,009
Balance, share at Dec. 31, 2020	152,926
Share-based compensation expense	$ 2	15,282				15,284
Share-based compensation expense, share	2,365
Exercise of options	$ 2	2,652				2,654
Exercise of options, share	1,518
Sales of common stock, net of issuance costs	$ 7	122,884	6,135			129,026
Sales of common stock, net of issuance costs, share	7,554
Net loss					(43,200)	(43,200)
Other comprehensive gain (loss)				(19)		(19)
Balance at Dec. 31, 2021	$ 164	742,042		(19)	(629,433)	112,754
Balance, share at Dec. 31, 2021	164,363
Share-based compensation expense	$ 1	15,460				15,461
Share-based compensation expense, share	1,294
Exercise of options	$ 1	725				726
Exercise of options, share	525
Sales of common stock, net of issuance costs	$ 5	13,994				13,999
Sales of common stock, net of issuance costs, share	4,321
Net loss					(53,091)	(53,091)
Other comprehensive gain (loss)				(108)		(108)
Balance at Dec. 31, 2022	$ 171	772,221		(127)	(682,524)	$ 89,741
Balance, share at Dec. 31, 2022	170,503					170,503
Share-based compensation expense	$ 2	16,139				$ 16,141
Share-based compensation expense, share	1,946
Exercise of options		175				175
Exercise of options, share	191
Sales of common stock, net of issuance costs	$ 22	72,230				72,252
Sales of common stock, net of issuance costs, share	22,096
Net loss					(82,842)	(82,842)
Other comprehensive gain (loss)				337		337
Balance at Dec. 31, 2023	$ 195	$ 860,765		$ 210	$ (765,366)	$ 95,804
Balance, share at Dec. 31, 2023	194,736					194,736