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Equity Incentive Plans - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 1 Months Ended | 6 Months Ended | 12 Months Ended |
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Jun. 18, 2014 | Jan. 31, 2024 | Dec. 31, 2022 | Jan. 31, 2022 | Jan. 31, 2021 | Jun. 30, 2015 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Nov. 30, 2016
Equity Incentive Plans |  |  |  |  |  |  |  |  |  |
Common stock closing price (in dollars per share) |  |  |  |  |  |  | $ 6.20 |  |  |
Intrinsic value of options exercised |  |  |  |  |  |  | $ 1,100 | $ 30 | $ 1,700 |
Weighted-average grant-date estimated fair value of options granted (in dollars per share) |  |  |  |  |  |  | $ 2.36 | $ 0.63 | $ 3.92 |
Issuance of common stock for services |  |  |  |  |  |  | $ 337 | $ 390 | $ 190 |
2014 Plan |  |  |  |  |  |  |  |  |  |
Equity Incentive Plans |  |  |  |  |  |  |  |  |  |
Number of shares initially authorized (in shares) | 1,400,000 |  |  |  |  |  |  |  |  |
Number of shares added to initial reserve | 35,000 |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance (in shares) | 1,500,000 |  |  |  |  |  | 2,500,000 |  |  |
Potential increase to shares reserved for inclusion of forfeited or unexercised options from prior plan | 1,200,000 |  |  |  |  |  |  |  |  |
Potential increase in shares reserved as a percentage of shares outstanding | 4.00% |  |  |  |  |  |  |  |  |
Maximum shares to be issued upon exercise of incentive stock options | 10,700,000 |  |  |  |  |  |  |  |  |
Inducement Plan |  |  |  |  |  |  |  |  |  |
Equity Incentive Plans |  |  |  |  |  |  |  |  |  |
Number of shares added to initial reserve |  |  | 3,000,000 | 2,000,000 | 500,000 |  |  |  |  |
Common stock reserved for future issuance (in shares) |  |  |  |  |  |  | 900,000 |  |  | 1,000,000
Share of common stock subject to issued inducement grants |  |  |  |  |  |  | 6,000,000 |  |  |
Inducement Plan | Subsequent event |  |  |  |  |  |  |  |  |  |
Equity Incentive Plans |  |  |  |  |  |  |  |  |  |
Number of shares added to initial reserve |  | 5,800,000 |  |  |  |  |  |  |  |
ESPP |  |  |  |  |  |  |  |  |  |
Equity Incentive Plans |  |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance (in shares) | 200,000 |  |  |  |  |  | 1,100,000 |  |  |
Potential increase in shares reserved as a percentage of shares outstanding | 1.00% |  |  |  |  |  |  |  |  |
Weighted-average grant-date estimated fair value of options granted (in dollars per share) |  |  |  |  |  |  | $ 1.85 | $ 0.63 | $ 2.12 |
Dividend yield |  |  |  |  |  |  | 0.00% | 0.00% | 0.00% |
Issuance of common stock for services (in shares) |  |  |  |  |  |  | 436,000 | 308,000 | 387,000 |
Maximum shares to be issued under ESPP | 2,200,000 |  |  |  |  |  |  |  |  |
Stock options |  |  |  |  |  |  |  |  |  |
Equity Incentive Plans |  |  |  |  |  |  |  |  |  |
Dividend yield |  |  |  |  |  |  | 0.00% | 0.00% | 0.00% |
Stock options | 2008 Plan |  |  |  |  |  |  |  |  |  |
Equity Incentive Plans |  |  |  |  |  |  |  |  |  |
Vesting period (in years) |  |  |  |  |  | 4 years |  |  |  |
RSUs |  |  |  |  |  |  |  |  |  |
Equity Incentive Plans |  |  |  |  |  |  |  |  |  |
Estimated fair value of RSUs vested |  |  |  |  |  |  | $ 3,500 | $ 2,600 | $ 800 |
Number of shares granted |  |  |  |  |  |  | 3,269,000 |  |  |
Number of shares vested |  |  |  |  |  |  | 942,000 |  |  |
Board of directors |  |  |  |  |  |  |  |  |  |
Equity Incentive Plans |  |  |  |  |  |  |  |  |  |
Issuance of common stock for services (in shares) |  |  |  |  |  |  | 100,000 | 700,000 | 26,000 |
Issuance of common stock for services |  |  |  |  |  |  | $ 300 | $ 400 | $ 200 |

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