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Stock-based Compensation - Narrative (Details) - USD ($) $ / shares in Units, shares in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Apr. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of remaining securities available for future issuance (in shares) | 6,445 |  |
Share price (in dollars per share) | $ 2.21 |  |
2011 Equity Incentive Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of remaining securities available for future issuance (in shares) | 4,656 |  |
Equity Incentive Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Aggregate intrinsic value, vested and released | $ 100,000 | $ 0 |
Total unrecognized compensation cost related to stock-based compensation arrangements | $ 12,400,000 |  |
Weighted average remaining contractual terms | 2 years 3 months 18 days |  |
2017 Employee Stock Purchase Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of remaining securities available for future issuance (in shares) | 1,581 |  |
2022 Inducement Equity Incentive Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of remaining securities available for future issuance (in shares) | 208 |  | 9,500
Tranche One |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of months over which options vest ratably | 36 months |  |
Tranche Two |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of months over which options vest ratably | 48 months |  |
Restricted Stock Units (RSUs) |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 4 years |  |
Award vesting percentage | 25.00% |  |
Total unrecognized compensation cost related to stock-based compensation arrangements | $ 13,900,000 |  |
Weighted average remaining contractual terms | 2 years 6 months |  |
Restricted Stock Units (RSUs) | Tranche One |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Rate at which outstanding options vest on the first anniversary of the option grant date | 25.00% |  |
Share-Based Payment Arrangement |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Expiration period | 10 years |  |
Stock option grants exercise price minimum percentage on fair market value | 100.00% |  |
Performance Shares |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Performance period | 3 years |  |
Performance Shares | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Percentage of performance period | 0.00% |  |
Performance Shares | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Percentage of performance period | 200.00% |  |

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