Stock Option Plan - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Number of Options
Outstanding, Beginning balance (in shares)	2,014,330
Granted (in shares)	63,000
Exercised (in shares)	(245,186)
Forfeited (in shares)	(257,982)
Expired (in shares)	(152,927)
Outstanding, Ending balance (in shares)	1,421,235	2,014,330
Vested and expected to vest (in shares)	1,421,235
Options exercisable (in Shares)	1,129,333
Weighted- Average Exercise Price
Outstanding, Beginning balance (in dollars per share)	$ 12.10
Granted (in dollars per share)	5.25
Exercised (in dollars per share)	0.26
Forfeited (in dollars per share)	16.09
Expired (in dollars per share)	13.73
Outstanding, Ending balance (in dollars per share)	12.94	$ 12.10
Vested and expected to vest (in dollars per share)	12.94
Options exercisable (in dollars per share)	$ 12.94
Weighted-Average Remaining Contractual Term (Years) and Aggregate Instrinsic Value
Outstanding, Weighted Average Remaining Contractual Term	7 years 1 month 2 days	7 years 10 months 13 days
Vested and expected to vest, Weighted Average Remaining Contractual Term	7 years 1 month 2 days
Options exercisable, Weighted Average Remaining Contractual Term	6 years 10 months 20 days
Outstanding, Aggregate Intrinsic Value	$ 483	$ 5,428
Vested and Expected to Vest, Aggregate Intrinsic Value	483
Options Exercisable, Aggregate Intrinsic Value	$ 483

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