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Stockholders' Equity - Company's Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
2003 Stock Incentive Plan      
OUTSTANDING OPTIONS      
Outstanding at beginning of period 93,465    
Options granted 0 0 0
Options exercised 0 (3,785) (285,087)
Options forfeited (93,465)    
Outstanding at end of period 0 93,465  
WEIGHTED-AVERAGE EXERCISE PRICE      
Outstanding at beginning of period $ 2.00    
Options forfeited $ 2.00    
Outstanding at end of period   $ 2.00  
VESTED AND EXPECTED TO VEST      
Outstanding options 0    
Weighted-Average Exercise Price $ 0.00    
ADDITIONAL DISCLOSURES      
Weighted-average contractual term outstanding   3 months 18 days  
2013 Equity Incentive Plan      
OUTSTANDING OPTIONS      
Outstanding at beginning of period 5,655,457    
Options granted 2,020,800    
Options exercised 0 0 0
Options forfeited (901,465)    
Outstanding at end of period 6,774,792 5,655,457  
WEIGHTED-AVERAGE EXERCISE PRICE      
Outstanding at beginning of period $ 8.30    
Options granted 1.06    
Options forfeited 6.56    
Outstanding at end of period $ 6.37 $ 8.30  
VESTED AND EXPECTED TO VEST      
Outstanding options 6,585,192    
Weighted-Average Exercise Price $ 6.52    
Weighted-Average Remaining Contractual Term 6 years    
Aggregate Intrinsic Value (in thousands) $ 3,142    
ADDITIONAL DISCLOSURES      
Outstanding options exercisable at end of period 4,449,925    
Weighted-average exercise price exercisable at end of period $ 8.72    
Weighted-average contractual term outstanding 6 years 1 month 6 days 6 years  
Weighted-average contractual term (years) exercisable 4 years 8 months 12 days    
Aggregate intrinsic value (in thousands) outstanding at end of period $ 3,506    
Aggregate intrinsic value (in thousands) exercisable at end of period $ 37