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Supplementary Balance Sheet Information - Accrued Expenses (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]    
Accrued compensation $ 1,849 $ 1,435
Preferred stock dividend(1) 0 414
Clinical trials 2,333 1,639
Clinical trials 509 726
Director fees 125 141
Patent, license and other fees 24 43
Other accrued liabilities 337 129
Total accrued liabilities $ 5,177 $ 4,527