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Stock Incentive Plans - Stock options (Details) - Stock options - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | ---
Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021 | Dec. 31, 2021
Shares |  |  |  |  |
Outstanding, beginning of period (in shares) |  |  | 1,346,733 |  |
Granted (in shares) |  |  | 944,481 |  |
Exercised (in shares) |  |  | (16,202) |  |
Cancelled or forfeited (in shares) |  |  | (37,013) |  |
Expired (in shares) |  |  | (51) |  |
Outstanding, end of period (in shares) | 2,237,948 |  | 2,237,948 |  | 1,346,733
Vested and exercisable (in shares) | 551,774 |  | 551,774 |  |
Weighted-Average Exercise Price |  |  |  |  |
Outstanding, beginning of period (in dollars per share) |  |  | $ 22.25 |  |
Granted (in dollars per share) |  |  | 5.83 |  |
Exercised (in dollars per share) |  |  | 2.10 |  |
Cancelled or forfeited (in dollars per share) |  |  | 21.87 |  |
Expired (in dollars per share) |  |  | 115.80 |  |
Outstanding at end of year (in dollars per share) | $ 15.47 |  | 15.47 |  | $ 22.25
Vested and exercisable (in dollars per share) | $ 30.09 |  | $ 30.09 |  |
Weighted Average Remaining Contractual Term (years) |  |  |  |  |
Outstanding |  |  | 8 years 9 months 14 days |  | 9 years 7 days
Vested and exercisable |  |  | 7 years 11 months 19 days |  |
Aggregate Intrinsic Value |  |  |  |  |
Outstanding | $ 3,292 |  | $ 3,292 |  | $ 168
Vested and exercisable | 248 |  | $ 248 |  |
Stock Incentive Plans |  |  |  |  |
Number of options exercised (in shares) |  |  | 16,202 |  |
Intrinsic value of options exercised | 129 | $ 38 | $ 129 | $ 38 |
Aggregate fair value of options vested | $ 900 | $ 300 | $ 4,700 | $ 1,300 |
Weighted average grant date fair value of options granted (in dollars per share) | $ 2.54 | $ 6.20 | $ 3.66 | $ 10.15 |
Unrecognized compensation expense related to unvested stock option awards | $ 10,400 |  | $ 10,400 |  |
Weighted-average amortization period over which cost is expected to be recognized |  |  | 2 years 7 months 6 days |  |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(04) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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