Stock Option Plan - Stock Option Activity (Details) - Stock options - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
Jun. 30, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding, beginning of period (in shares)	1,421,235
Granted (in shares)	58,500
Exercised (in shares)	(93,335)
Forfeited (in shares)	(32,426)
Expired (in shares)	(359,448)
Outstanding, end of period (in shares)	994,526	1,421,235
Vested and expected to vest, end of period (in shares)	994,526
Options exercisable, end of period (in shares)	825,513
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Outstanding, beginning of period, Weighted Average Exercise Price (in dollars per share)	$ 12.94
Granted, Weighted Average Exercise Price (in dollars per share)	3.15
Exercised, Weighted Average Exercise Price (in dollars per share)	0.26
Forfeited, Weighted Average Exercise Price (in dollars per share)	14.38
Expired, Weighted Average Exercise Price (in dollars per share)	17.02
Outstanding, end of period, Weighted Average Exercise Price (in dollars per share)	12.03	$ 12.94
Vested and expected to vest, end of period (in shares), Weighted Average Exercise Price (in dollars per share)	12.03
Options exercised, end of period (in shares), Weighted Average Exercise Price (in dollars per share)	$ 12.24
Stock Options, Additional Disclosures [Abstract]
Outstanding, Weighted Average Remaining Contractual Term	6 years 10 months 24 days	7 years 1 month 2 days
Vested and expected to vest, Weighted Average Remaining Contractual Term	6 years 10 months 24 days
Options exercisable, Weighted Average Remaining Contractual Term	6 years 7 months 28 days
Outstanding, Aggregate Intrinsic Value	$ 349	$ 483
Vested and expected to vest, Aggregate Intrinsic Value	349
Options exercisable, Aggregate Intrinsic Value	$ 349

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Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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