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Equity Financings and Warrants (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Jun. 03, 2020
Dec. 31, 2021
Dec. 31, 2020
Jul. 22, 2020
Jul. 14, 2020
Jan. 11, 2017
Equity Financing And Warrants [Line Items]            
Net proceeds from issuance of common stock   $ 24,070 $ 50,894      
Common stock, par value   $ 0.001 $ 0.001      
Common stock, shares issued   14,410,143 9,548,150      
JonesTrading            
Equity Financing And Warrants [Line Items]            
Percentage of selling commission per additional shares sold           3.00%
Sales Agreement            
Equity Financing And Warrants [Line Items]            
Common stock, shares issued     2,214,301      
Net proceeds from issuance of common stock     $ 14,400      
Sales Agreement | JonesTrading            
Equity Financing And Warrants [Line Items]            
Common stock, par value           $ 0.001
Aggregate offering price of common stock authorized         $ 32,400 $ 7,300
2020 Sales Agreement            
Equity Financing And Warrants [Line Items]            
Net proceeds from issuance of common stock   $ 23,300 $ 28,900      
Aggregate offering price of common stock authorized       $ 54,000    
Sale of common stock   4,861,993 5,066,279      
Direct Offering            
Equity Financing And Warrants [Line Items]            
Common stock issued 348,000          
Purchase price per share $ 9.00          
Pre-funded warrants to purchase shares of common stock 325,500          
Purchase price per warrant $ 8.999          
Pre-funded warrants outstanding     0      
Net proceeds from issuance of common stock $ 5,300          
Percentage of selling commission per additional shares sold 8.00%