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Stockholders' Equity - Company's Stock Option Activity (Details) - $ / shares
6 Months Ended 12 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
OUTSTANDING OPTIONS      
Options forfeited (73,859)    
WEIGHTED-AVERAGE EXERCISE PRICE      
Options forfeited $ 1.98    
2003 Stock Incentive Plan      
OUTSTANDING OPTIONS      
Outstanding at beginning of period 93,465    
Options exercised 0 (3,785)  
Outstanding at end of period 19,606   93,465
WEIGHTED-AVERAGE EXERCISE PRICE      
Outstanding at beginning of period $ 2.00    
Outstanding at end of period $ 2.07   $ 2.00
VESTED AND EXPECTED TO VEST      
Weighted-Average Remaining Contractual Term 1 month 6 days   3 months 18 days
2013 Equity Incentive Plan      
OUTSTANDING OPTIONS      
Outstanding at beginning of period 5,655,457    
Options granted 1,980,800    
Options exercised 0 0  
Options forfeited (385,434)    
Outstanding at end of period 7,250,823   5,655,457
WEIGHTED-AVERAGE EXERCISE PRICE      
Outstanding at beginning of period $ 8.30    
Options granted 1.07    
Options forfeited 5.43    
Outstanding at end of period $ 6.47   $ 8.30
VESTED AND EXPECTED TO VEST      
Outstanding options 7,048,223    
Weighted-Average Exercise Price $ 6.63    
Weighted-Average Remaining Contractual Term 6 years 3 months 18 days    
ADDITIONAL DISCLOSURES      
Outstanding options exercisable at end of period 4,585,123    
Weighted-average exercise price exercisable at end of period $ 8.93    
Weighted-average contractual term outstanding 6 years 4 months 24 days   6 years
Weighted-average contractual term (years) exercisable 4 years 9 months 18 days