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Consolidated Statements of Convertible Preferred Stock and Stockholders’ Equity (Deficit) - USD ($) $ in Thousands | Total | Underwritten Public Offering | Public Offering | Series X Convertible Preferred Stock | Preferred Stock Series X Convertible Preferred Stock | Preferred Stock Series X Convertible Preferred Stock Underwritten Public Offering | Common Stock | Common Stock Underwritten Public Offering | Common Stock Public Offering | Additional Paid-In Capital | Additional Paid-In Capital Underwritten Public Offering | Additional Paid-In Capital Public Offering | Accumulated Deficit
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Balance, beginning (in shares) at Dec. 31, 2021 |  |  |  |  | 1,818,472 |  |  |  |  |  |  |  |
Balance, beginning at Dec. 31, 2021 | $ 13,104 |  |  |  | $ 0 |  | $ 7 |  |  | $ 398,013 |  |  | $ (384,916)
Balance, beginning (in shares) at Dec. 31, 2021 |  |  |  |  |  |  | 67,863,674 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of stock, net of issuance costs (in shares) |  |  |  |  |  |  |  |  | 644,265 |  |  |  |
Issuance of stock, net of issuance costs |  |  | $ 500 |  |  |  |  |  |  |  |  | $ 500 |
Issuance of common stock for restricted share units vested (in shares) |  |  |  |  |  |  | 541,308 |  |  |  |  |  |
Stock-based compensation | 1,165 |  |  |  |  |  |  |  |  | 1,165 |  |  |
Net loss | (18,474) |  |  |  |  |  |  |  |  |  |  |  | (18,474)
Balance, ending (in shares) at Mar. 31, 2022 |  |  |  | 1,818,472 | 1,818,472 |  |  |  |  |  |  |  |
Balance, ending at Mar. 31, 2022 | $ (3,705) |  |  |  | $ 0 |  | $ 7 |  |  | 399,678 |  |  | (403,390)
Balance, ending (in shares) at Mar. 31, 2022 | 69,049,247 |  |  |  |  |  | 69,049,247 |  |  |  |  |  |
Balance, beginning (in shares) at Dec. 31, 2021 |  |  |  |  | 1,818,472 |  |  |  |  |  |  |  |
Balance, beginning at Dec. 31, 2021 | $ 13,104 |  |  |  | $ 0 |  | $ 7 |  |  | 398,013 |  |  | (384,916)
Balance, beginning (in shares) at Dec. 31, 2021 |  |  |  |  |  |  | 67,863,674 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 69 |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (34,233) |  |  |  |  |  |  |  |  |  |  |  |
Balance, ending (in shares) at Jun. 30, 2022 |  |  |  | 1,818,472 | 1,818,472 |  |  |  |  |  |  |  |
Balance, ending at Jun. 30, 2022 | $ (18,543) |  |  |  | $ 0 |  | $ 7 |  |  | 400,599 |  |  | (419,149)
Balance, ending (in shares) at Jun. 30, 2022 | 69,238,508 |  |  |  |  |  | 69,238,508 |  |  |  |  |  |
Balance, beginning (in shares) at Dec. 31, 2021 |  |  |  |  | 1,818,472 |  |  |  |  |  |  |  |
Balance, beginning at Dec. 31, 2021 | $ 13,104 |  |  |  | $ 0 |  | $ 7 |  |  | 398,013 |  |  | (384,916)
Balance, beginning (in shares) at Dec. 31, 2021 |  |  |  |  |  |  | 67,863,674 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 69 |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (19,987) |  |  |  |  |  |  |  |  |  |  |  |
Balance, ending (in shares) at Sep. 30, 2022 |  |  |  | 1,818,472 | 1,818,472 |  |  |  |  |  |  |  |
Balance, ending at Sep. 30, 2022 | $ (2,247) |  |  |  | $ 0 |  | $ 7 |  |  | 402,649 |  |  | (404,903)
Balance, ending (in shares) at Sep. 30, 2022 | 71,181,197 |  |  |  |  |  | 71,181,197 |  |  |  |  |  |
Balance, beginning (in shares) at Dec. 31, 2021 |  |  |  |  | 1,818,472 |  |  |  |  |  |  |  |
Balance, beginning at Dec. 31, 2021 | $ 13,104 |  |  |  | $ 0 |  | $ 7 |  |  | 398,013 |  |  | (384,916)
Balance, beginning (in shares) at Dec. 31, 2021 |  |  |  |  |  |  | 67,863,674 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of stock, net of issuance costs (in shares) |  |  |  |  |  |  |  |  | 3,414,926 |  |  |  |
Issuance of stock, net of issuance costs |  |  | 2,370 |  |  |  |  |  |  |  |  | 2,370 |
Issuance of common stock for restricted share units vested (in shares) |  |  |  |  |  |  | 828,244 |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  | 363,596 |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 140 |  |  |  |  |  |  |  |  | 140 |  |  |
Stock-based compensation | 3,532 |  |  |  |  |  |  |  |  | 3,532 |  |  |
Issuance costs for underwritten public offering |  | $ 0 |  |  |  |  |  |  |  |  | $ 0 |  |
Net loss | (33,584) |  |  |  |  |  |  |  |  |  |  |  | (33,584)
Balance, ending (in shares) at Dec. 31, 2022 |  |  |  | 1,818,472 | 1,818,472 |  |  |  |  |  |  |  |
Balance, ending at Dec. 31, 2022 | $ (14,438) |  |  |  | $ 0 |  | $ 7 |  |  | 404,055 |  |  | (418,500)
Balance, ending (in shares) at Dec. 31, 2022 | 72,470,440 |  |  |  |  |  | 72,470,440 |  |  |  |  |  |
Balance, beginning (in shares) at Mar. 31, 2022 |  |  |  | 1,818,472 | 1,818,472 |  |  |  |  |  |  |  |
Balance, beginning at Mar. 31, 2022 | $ (3,705) |  |  |  | $ 0 |  | $ 7 |  |  | 399,678 |  |  | (403,390)
Balance, beginning (in shares) at Mar. 31, 2022 | 69,049,247 |  |  |  |  |  | 69,049,247 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock for restricted share units vested (in shares) |  |  |  |  |  |  | 5,042 |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  | 184,219 |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | $ 69 |  |  |  |  |  |  |  |  | 69 |  |  |
Stock-based compensation | 852 |  |  |  |  |  |  |  |  | 852 |  |  |
Net loss | (15,759) |  |  |  |  |  |  |  |  |  |  |  | (15,759)
Balance, ending (in shares) at Jun. 30, 2022 |  |  |  | 1,818,472 | 1,818,472 |  |  |  |  |  |  |  |
Balance, ending at Jun. 30, 2022 | $ (18,543) |  |  |  | $ 0 |  | $ 7 |  |  | 400,599 |  |  | (419,149)
Balance, ending (in shares) at Jun. 30, 2022 | 69,238,508 |  |  |  |  |  | 69,238,508 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of stock, net of issuance costs (in shares) |  |  |  |  |  |  |  |  | 1,664,170 |  |  |  |
Issuance of stock, net of issuance costs |  |  | 1,208 |  |  |  |  |  |  |  |  | 1,208 |
Issuance of common stock for restricted share units vested (in shares) |  |  |  |  |  |  | 278,519 |  |  |  |  |  |
Stock-based compensation | $ 842 |  |  |  |  |  |  |  |  | 842 |  |  |
Net loss | 14,246 |  |  |  |  |  |  |  |  |  |  |  | 14,246
Balance, ending (in shares) at Sep. 30, 2022 |  |  |  | 1,818,472 | 1,818,472 |  |  |  |  |  |  |  |
Balance, ending at Sep. 30, 2022 | $ (2,247) |  |  |  | $ 0 |  | $ 7 |  |  | 402,649 |  |  | (404,903)
Balance, ending (in shares) at Sep. 30, 2022 | 71,181,197 |  |  |  |  |  | 71,181,197 |  |  |  |  |  |
Balance, beginning (in shares) at Dec. 31, 2022 |  |  |  | 1,818,472 | 1,818,472 |  |  |  |  |  |  |  |
Balance, beginning at Dec. 31, 2022 | $ (14,438) |  |  |  | $ 0 |  | $ 7 |  |  | 404,055 |  |  | (418,500)
Balance, beginning (in shares) at Dec. 31, 2022 | 72,470,440 |  |  |  |  |  | 72,470,440 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of stock, net of issuance costs (in shares) |  |  |  |  |  | 286,000 |  | 11,086,000 | 6,158,799 |  |  |  |
Issuance of stock, net of issuance costs |  | 17,256 | 8,622 |  |  |  |  | $ 1 | $ 1 |  | 17,255 | 8,621 |
Issuance of common stock for exercise of stock options (in shares) |  |  |  |  |  |  | 16,250 |  |  |  |  |  |
Issuance of common stock for exercise of stock options | $ 14 |  |  |  |  |  |  |  |  | 14 |  |  |
Issuance of common stock for restricted share units vested (in shares) |  |  |  |  |  |  | 293,073 |  |  |  |  |  |
Stock-based compensation | 640 |  |  |  |  |  |  |  |  | 640 |  |  |
Net loss | 3,013 |  |  |  |  |  |  |  |  |  |  |  | 3,013
Balance, ending (in shares) at Mar. 31, 2023 |  |  |  | 2,104,472 | 2,104,472 |  |  |  |  |  |  |  |
Balance, ending at Mar. 31, 2023 | $ 15,107 |  |  |  | $ 0 |  | $ 9 |  |  | 430,585 |  |  | (415,487)
Balance, ending (in shares) at Mar. 31, 2023 | 90,024,562 |  |  |  |  |  | 90,024,562 |  |  |  |  |  |
Balance, beginning (in shares) at Dec. 31, 2022 |  |  |  | 1,818,472 | 1,818,472 |  |  |  |  |  |  |  |
Balance, beginning at Dec. 31, 2022 | $ (14,438) |  |  |  | $ 0 |  | $ 7 |  |  | 404,055 |  |  | (418,500)
Balance, beginning (in shares) at Dec. 31, 2022 | 72,470,440 |  |  |  |  |  | 72,470,440 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | $ 63 |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (10,611) |  |  |  |  |  |  |  |  |  |  |  |
Balance, ending (in shares) at Jun. 30, 2023 |  |  |  | 2,104,472 | 2,104,472 |  |  |  |  |  |  |  |
Balance, ending at Jun. 30, 2023 | $ 2,417 |  |  |  | $ 0 |  | $ 9 |  |  | 431,519 |  |  | (429,111)
Balance, ending (in shares) at Jun. 30, 2023 | 90,251,746 |  |  |  |  |  | 90,251,746 |  |  |  |  |  |
Balance, beginning (in shares) at Dec. 31, 2022 |  |  |  | 1,818,472 | 1,818,472 |  |  |  |  |  |  |  |
Balance, beginning at Dec. 31, 2022 | $ (14,438) |  |  |  | $ 0 |  | $ 7 |  |  | 404,055 |  |  | (418,500)
Balance, beginning (in shares) at Dec. 31, 2022 | 72,470,440 |  |  |  |  |  | 72,470,440 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | $ 63 |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (19,718) |  |  |  |  |  |  |  |  |  |  |  |
Balance, ending (in shares) at Sep. 30, 2023 |  |  |  | 2,104,472 | 2,104,472 |  |  |  |  |  |  |  |
Balance, ending at Sep. 30, 2023 | $ (5,894) |  |  |  | $ 0 |  | $ 9 |  |  | 432,315 |  |  | (438,218)
Balance, ending (in shares) at Sep. 30, 2023 | 90,415,944 |  |  |  |  |  | 90,415,944 |  |  |  |  |  |
Balance, beginning (in shares) at Dec. 31, 2022 |  |  |  | 1,818,472 | 1,818,472 |  |  |  |  |  |  |  |
Balance, beginning at Dec. 31, 2022 | $ (14,438) |  |  |  | $ 0 |  | $ 7 |  |  | 404,055 |  |  | (418,500)
Balance, beginning (in shares) at Dec. 31, 2022 | 72,470,440 |  |  |  |  |  | 72,470,440 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of stock, net of issuance costs (in shares) |  |  |  |  |  | 286,000 |  | 11,086,000 | 6,219,741 |  |  |  |
Issuance of stock, net of issuance costs |  | $ 17,256 | 8,699 |  |  |  |  | $ 1 | $ 1 |  | $ 17,255 | 8,698 |
Issuance of common stock for exercise of stock options (in shares) | 25,750 |  |  |  |  |  | 25,750 |  |  |  |  |  |
Issuance of common stock for exercise of stock options | $ 21 |  |  |  |  |  |  |  |  | 21 |  |  |
Issuance of common stock for restricted share units vested (in shares) |  |  |  |  |  |  | 490,520 |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  | 309,548 |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 122 |  |  |  |  |  |  |  |  | 122 |  |  |
Stock-based compensation | 3,061 |  |  |  |  |  |  |  |  | 3,061 |  |  |
Net loss | (22,931) |  |  |  |  |  |  |  |  |  |  |  | (22,931)
Balance, ending (in shares) at Dec. 31, 2023 |  |  |  | 2,104,472 | 2,104,472 |  |  |  |  |  |  |  |
Balance, ending at Dec. 31, 2023 | $ (8,210) |  |  |  | $ 0 |  | $ 9 |  |  | 433,212 |  |  | (441,431)
Balance, ending (in shares) at Dec. 31, 2023 | 90,601,999 |  |  |  |  |  | 90,601,999 |  |  |  |  |  |
Balance, beginning (in shares) at Mar. 31, 2023 |  |  |  | 2,104,472 | 2,104,472 |  |  |  |  |  |  |  |
Balance, beginning at Mar. 31, 2023 | $ 15,107 |  |  |  | $ 0 |  | $ 9 |  |  | 430,585 |  |  | (415,487)
Balance, beginning (in shares) at Mar. 31, 2023 | 90,024,562 |  |  |  |  |  | 90,024,562 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of stock, net of issuance costs (in shares) |  |  |  |  |  |  |  |  | 60,942 |  |  |  |
Issuance of stock, net of issuance costs |  |  | $ 76 |  |  |  |  |  |  |  |  | $ 76 |
Issuance of common stock for restricted share units vested (in shares) |  |  |  |  |  |  | 4,875 |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  |  |  |  |  |  | 161,367 |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | $ 63 |  |  |  |  |  |  |  |  | 63 |  |  |
Stock-based compensation | 795 |  |  |  |  |  |  |  |  | 795 |  |  |
Net loss | (13,624) |  |  |  |  |  |  |  |  |  |  |  | (13,624)
Balance, ending (in shares) at Jun. 30, 2023 |  |  |  | 2,104,472 | 2,104,472 |  |  |  |  |  |  |  |
Balance, ending at Jun. 30, 2023 | $ 2,417 |  |  |  | $ 0 |  | $ 9 |  |  | 431,519 |  |  | (429,111)
Balance, ending (in shares) at Jun. 30, 2023 | 90,251,746 |  |  |  |  |  | 90,251,746 |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock for restricted share units vested (in shares) |  |  |  |  |  |  | 164,198 |  |  |  |  |  |
Stock-based compensation | $ 796 |  |  |  |  |  |  |  |  | 796 |  |  |
Net loss | (9,107) |  |  |  |  |  |  |  |  |  |  |  | (9,107)
Balance, ending (in shares) at Sep. 30, 2023 |  |  |  | 2,104,472 | 2,104,472 |  |  |  |  |  |  |  |
Balance, ending at Sep. 30, 2023 | $ (5,894) |  |  |  | $ 0 |  | $ 9 |  |  | $ 432,315 |  |  | $ (438,218)
Balance, ending (in shares) at Sep. 30, 2023 | 90,415,944 |  |  |  |  |  | 90,415,944 |  |  |  |  |  |

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