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SELECTED QUARTERLY FINANCIAL DATA (UNAUDITED) - Corrected Condensed Consolidated Statement of Convertible Preferred Stock and Stockholders’ Equity (Deficit) (unaudited) (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2023
Jun. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2023
Dec. 31, 2022
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Balance, beginning $ 2,417 $ 15,107 $ (14,438) $ (18,543) $ (3,705) $ 13,104 $ (14,438) $ 13,104 $ (14,438) $ 13,104 $ (14,438) $ 13,104
Balance, beginning (in shares) 90,251,746 90,024,562 72,470,440 69,238,508 69,049,247   72,470,440   72,470,440   72,470,440  
Issuance of common stock for exercise of stock options (in shares)                     25,750  
Issuance of common stock for exercise of stock options     $ 14               $ 21  
Issuance of common stock under Employee Stock Purchase Plan   $ 63     $ 69   $ 63 69 $ 63 69 122 140
Stock-based compensation $ 796 795 640 $ 842 852 1,165         3,061 3,532
Net loss (9,107) (13,624) 3,013 14,246 (15,759) (18,474) (10,611) (34,233) (19,718) (19,987) (22,931) (33,584)
Balance, ending $ (5,894) $ 2,417 $ 15,107 $ (2,247) $ (18,543) $ (3,705) $ 2,417 $ (18,543) $ (5,894) $ (2,247) $ (8,210) $ (14,438)
Balance, ending (in shares) 90,415,944 90,251,746 90,024,562 71,181,197 69,238,508 69,049,247 90,251,746 69,238,508 90,415,944 71,181,197 90,601,999 72,470,440
Series X Convertible Preferred Stock                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Balance, beginning (in shares) 2,104,472 2,104,472 1,818,472 1,818,472 1,818,472   1,818,472   1,818,472   1,818,472  
Balance, ending (in shares) 2,104,472 2,104,472 2,104,472 1,818,472 1,818,472 1,818,472 2,104,472 1,818,472 2,104,472 1,818,472 2,104,472 1,818,472
Underwritten Public Offering                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Issuance of stock, net of issuance costs     $ 17,256               $ 17,256  
Public Offering                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Issuance of stock, net of issuance costs   $ 76 8,622 $ 1,208   $ 500         8,699 $ 2,370
Additional Paid-In Capital                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Balance, beginning $ 431,519 430,585 404,055 400,599 $ 399,678 398,013 $ 404,055 $ 398,013 $ 404,055 $ 398,013 404,055 398,013
Issuance of common stock for exercise of stock options     14               21  
Issuance of common stock under Employee Stock Purchase Plan   63     69           122 140
Stock-based compensation 796 795 640 842 852 1,165         3,061 3,532
Balance, ending 432,315 431,519 430,585 402,649 400,599 399,678 431,519 400,599 432,315 402,649 433,212 404,055
Additional Paid-In Capital | Underwritten Public Offering                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Issuance of stock, net of issuance costs     17,255               17,255  
Additional Paid-In Capital | Public Offering                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Issuance of stock, net of issuance costs   76 8,621 1,208   500         8,698 2,370
Accumulated Deficit                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Balance, beginning (429,111) (415,487) (418,500) (419,149) (403,390) (384,916) (418,500) (384,916) (418,500) (384,916) (418,500) (384,916)
Net loss (9,107) (13,624) 3,013 14,246 (15,759) (18,474)         (22,931) (33,584)
Balance, ending $ (438,218) $ (429,111) $ (415,487) $ (404,903) $ (419,149) $ (403,390) $ (429,111) $ (419,149) $ (438,218) $ (404,903) $ (441,431) $ (418,500)
Preferred Stock | Series X Convertible Preferred Stock                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Balance, beginning (in shares) 2,104,472 2,104,472 1,818,472 1,818,472 1,818,472 1,818,472 1,818,472 1,818,472 1,818,472 1,818,472 1,818,472 1,818,472
Balance, beginning $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0
Balance, ending (in shares) 2,104,472 2,104,472 2,104,472 1,818,472 1,818,472 1,818,472 2,104,472 1,818,472 2,104,472 1,818,472 2,104,472 1,818,472
Balance, ending $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0 $ 0
Preferred Stock | Underwritten Public Offering | Series X Convertible Preferred Stock                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Issuance of stock, net of issuance costs (in shares)     286,000               286,000  
Common Stock                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Balance, beginning $ 9 $ 9 $ 7 $ 7 $ 7 $ 7 $ 7 $ 7 $ 7 $ 7 $ 7 $ 7
Balance, beginning (in shares) 90,251,746 90,024,562 72,470,440 69,238,508 69,049,247 67,863,674 72,470,440 67,863,674 72,470,440 67,863,674 72,470,440 67,863,674
Issuance of common stock for exercise of stock options (in shares)     16,250               25,750  
Issuance of common stock for restricted share units vested (in shares) 164,198 4,875 293,073 278,519 5,042 541,308         490,520 828,244
Issuance of common stock under Employee Stock Purchase Plan (in shares)   161,367     184,219           309,548 363,596
Balance, ending $ 9 $ 9 $ 9 $ 7 $ 7 $ 7 $ 9 $ 7 $ 9 $ 7 $ 9 $ 7
Balance, ending (in shares) 90,415,944 90,251,746 90,024,562 71,181,197 69,238,508 69,049,247 90,251,746 69,238,508 90,415,944 71,181,197 90,601,999 72,470,440
Common Stock | Underwritten Public Offering                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Issuance of stock, net of issuance costs (in shares)     11,086,000               11,086,000  
Issuance of stock, net of issuance costs     $ 1               $ 1  
Common Stock | Public Offering                        
Error Corrections and Prior Period Adjustments Restatement [Line Items]                        
Issuance of stock, net of issuance costs (in shares)   60,942 6,158,799 1,664,170   644,265         6,219,741 3,414,926
Issuance of stock, net of issuance costs     $ 1               $ 1