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Consolidated Statements of Stockholders' Equity (Parenthetical) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Common stock, par value | $ 0.0001 | $ 0.0001 |
At-the-market, offering expenses |  |  | $ 159
Direct Placement Offering [Member] |  |  |
Direct offering, offering expenses | $ 14,044 | $ 10,535 | $ 5,332
Follow-on Public Offering One [Member] |  |  |
At-the-market, offering expenses | $ 1,086 | $ 600 |

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