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Summary of Significant Accounting Policies Equity Incentive Awards (Tables) | 3 Months Ended
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Mar. 31, 2023
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Abstract] |
Schedule of Accrued Liabilities | Accrued liabilities: Accrued liabilities consisted of the following:
|  | As of March 31, |  | As of December 31,
|  | 2023 |  | 2022
|  | (in thousands)
Accrued research and development services |  | $ | 3,937 |  |  | $ | 3,252 |
Accrued compensation and benefits |  | 4,348 |  |  | 7,830 |
Short term lease liability |  | 1,291 |  |  | 1,291 |
Other |  | 484 |  |  | 404 |
Total accrued liabilities |  | $ | 10,060 |  |  | $ | 12,777 |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | Expected Volatility |  | Risk-free Interest Rate |  | Expected Term |  | Dividend Rate
March 31, 2023: |  |  |  |  |  |  |  |
Employees |  | 112 | % |  | 4.1 | % |  | 4 |  | — | %
Officers and non-employee directors |  | 98 | % |  | 3.9 | % |  | 6 |  | — | %
March 31, 2022: |  |  |  |  |  |  |  |
Employees |  | 104 | % |  | 1.8 | % |  | 4 |  | — | %
Officers and non-employee directors |  | 91 | % |  | 1.9 | % |  | 7 |  | — | %
Share-based Payment Arrangement, Option, Activity [Table Text Block] |
|  | Options |  | Weighted Average Exercise Price
|  | (in thousands) |  |
Outstanding at December 31, 2022 |  | 12,349 |  |  | $ | 5.10 |
Granted |  | 5,077 |  |  | 2.43 |
Expired |  | (129) |  |  | 14.83 |
Forfeited |  | (170) |  |  | 3.65 |
Outstanding at March 31, 2023 |  | 17,127 |  |  | 4.25 |
Exercisable at March 31, 2023 |  | 6,877 |  |  | $ | 6.20 |
Schedule of Nonvested Restricted Stock Units Activity [Table Text Block] |
|  | Shares |  | Weighted Average Grant Date Fair Value
|  | (in thousands) |  |
Outstanding at December 31, 2022 |  | 2,748 |  |  | $ | 3.78 |
Granted |  | 4,070 |  |  | 2.43 |
Vested |  | (1,216) |  |  | 3.92 |
Forfeited |  | (112) |  |  | 2.94 |
Outstanding at March 31, 2023 |  | 5,490 |  |  | $ | 2.77 |

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- Definition Tabular disclosure of the changes in outstanding nonvested restricted stock units. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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