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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