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Stock Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Oct. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total intrinsic value of stock options exercised | $ 18 | $ 100 |
Granted (in shares) | 10,933,000 | 8,231,000 |
Weighted-average fair values of options granted (in USD per share) | $ 0.93 | $ 5.18 |
Unrecognized stock-based compensation expense related to awards | $ 30,400 |  |
Unrecognized stock-based compensation, weighted-average period (in years) | 2 years 7 months 6 days |  |
Stock-based compensation expense |  | $ 1,600 |
Stock-Based Compensation |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Common stock shares authorized for issuance (in shares) | 37,900,792 |  |
Shares available for future grants (in shares) | 3,202,937 |  |
Options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award price as a percentage of grant date fair value, minimum | 100.00% |  |
Incentive Stock Options (ISOs) and Non-Qualified Stock Options (NSOs) |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award price as a percentage of grant date fair value, minimum | 110.00% |  |
Significant stockholder threshold ownership percentage | 10.00% |  |
Performance Shares |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Shares of performance units both performance and service vesting conditions (in shares) | 400,000 |  |
Restricted stock units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Unrecognized stock-based compensation, weighted-average period (in years) | 1 year 6 months |  |
Shares of performance units both performance and service vesting conditions (in shares) | 857,000 | 2,585,000 |
Total fair values of RSUs vested | $ 2,800 | $ 1,600 |
Unrecognized compensation cost | $ 1,600 |  |
Restricted stock units | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Awards granted to employees and non-employees vesting period (in years) | 2 years |  |
Restricted stock units | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Awards granted to employees and non-employees vesting period (in years) | 4 years |  |
2014 Equity Incentive Award Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of shares available for future issuance (as percent) | 4.00% |  |
2017 Inducement Plan | Stock Options and Restricted Stock Units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Common stock shares available for future grant (in shares) |  |  | 600,000
2014 Plan And Inducement Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Awards granted to employees and non-employees vesting period (in years) | 4 years |  |
2014 Plan And Inducement Plan | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock options granted period | 10 years |  |
2014 Plan And Inducement Plan | Performance Shares |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Granted (in shares) | 2,500,000 |  |
2014 Employee Stock Purchase Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Common stock shares available for future grant (in shares) | 208,833 |  |
Shares available for future grants (in shares) | 7,043,481 |  |
Unrecognized compensation cost | $ 600 |  |
Percentage increase in shares issued | 1.00% |  |
Common stock issued (in shares) | 887,061 |  |

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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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