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Stock Plans - Stock Options (Details) - USD ($)
$ / shares in Units, shares in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Number of Options    
Options outstanding at the beginning of the period (in shares) 4,715  
Options granted (in shares) 3,039  
Options exercised (in shares) 0  
Options cancelled (in shares) (1,113)  
Options outstanding at the end of the period (in shares) 6,641 4,715
Vested and exercisable (in shares) 2,445  
Weighted-Average Exercise Price    
Balance at the beginning of the period (in dollars per share) $ 6.53  
Options granted (in dollars per share) 1.22  
Options exercised (in dollars per share) 0  
Options cancelled (in dollars per share) 8.33  
Balance at the end of the period (in dollars per share) 3.80 $ 6.53
Vested and exercisable (in dollars per share) $ 7.08  
Weighted-Average Remaining Contractual Term (Years)    
Outstanding 5 years 3 months 10 days  
Vested and exercisable 3 years 10 months 2 days  
Aggregate Intrinsic Value    
Outstanding $ 0  
Vested and exercisable 0  
Additional disclosures related to stock options    
Total intrinsic value for stock options exercised 0 $ 0
Total intrinsic value for stock options exercisable $ 0 $ 0