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Supplementary Balance Sheet Information - Accrued Liabilities (Details) - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]    
Accrued compensation $ 983 $ 1,849
Clinical trials 2,709 2,333
Research agreements and services 571 509
Director fees 125 125
Patent, license and other fees 59 24
Other accrued liabilities 108 337
Total accrued liabilities $ 4,555 $ 5,177