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Stockholders' Equity - Company's Stock Option Activity (Details) - 2013 Equity Incentive Plan - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
OUTSTANDING OPTIONS      
Outstanding at beginning of period 6,774,792    
Options granted 2,451,050    
Options exercised (44,550) 0  
Options forfeited (409,085)    
Outstanding at end of period 8,772,207   6,774,792
WEIGHTED-AVERAGE EXERCISE PRICE      
Outstanding at beginning of period $ 6.37    
Options granted 2.55    
Options exercised 1.21    
Options forfeited 2.97    
Outstanding at end of period $ 5.49   $ 6.37
VESTED AND EXPECTED TO VEST      
Outstanding options 8,630,307    
Weighted-Average Exercise Price $ 5.56    
Weighted-Average Remaining Contractual Term 6 years 3 months 18 days    
Aggregate Intrinsic Value (in thousands) $ 948    
ADDITIONAL DISCLOSURES      
Outstanding options exercisable at end of period 5,155,455    
Weighted-average exercise price exercisable at end of period $ 7.72    
Weighted-average contractual term outstanding 6 years 3 months 18 days   6 years 1 month 6 days
Weighted-average contractual term (years) exercisable 4 years 4 months 24 days    
Aggregate intrinsic value (in thousands) outstanding at end of period $ 1,037    
Aggregate intrinsic value (in thousands) exercisable at end of period $ 430