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Stock Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Share-based Compensation [Abstract]
Vesting period	4 years
Stock-based compensation expense	$ 778	$ 879
General and Administrative Expense [Member]
Share-based Compensation [Abstract]
Stock-based compensation expense	466	383
Research and Development Expense [Member]
Share-based Compensation [Abstract]
Stock-based compensation expense	312	$ 496
Stock Options [Member]
Share-based Compensation [Abstract]
Unrecognized stock-based compensation expense expected to be recognized related to unvested stock options	$ 4,865
Weighted average amortization period	2 years 8 months 15 days
Restricted Stock Units (RSUs) [Member]
Share-based Compensation [Abstract]
Unrecognized stock-based compensation expense expected to be recognized related to unvested RSUs	$ 1,858
Weighted average amortization period	2 years 1 month 17 days
2013 Plan [Member]
Share-based Compensation [Abstract]
Shares available for grant (in shares)	2,240,296
2013 Plan [Member] | Stock Options [Member]
Share-based Compensation [Abstract]
Vesting period	4 years
Term of award	10 years
2013 Plan [Member] | Incentive Stock Options [Member] | Minimum [Member]
Share-based Compensation [Abstract]
Exercise price of option granted as percentage of fair market value of shares at date of grant	100.00%
2013 Plan [Member] | Incentive Stock Options [Member] | Named Executive Officers [Member] | Minimum [Member]
Share-based Compensation [Abstract]
Exercise price of option granted as percentage of fair market value of shares at date of grant	100.00%
2013 Plan [Member] | Incentive Stock Options [Member] | 10% Shareholder [Member] | Minimum [Member]
Share-based Compensation [Abstract]
Exercise price of option granted as percentage of fair market value of shares at date of grant	110.00%
2013 Plan [Member] | Nonqualified Stock Options [Member] | Minimum [Member]
Share-based Compensation [Abstract]
Exercise price of option granted as percentage of fair market value of shares at date of grant	85.00%
2013 Plan [Member] | Nonqualified Stock Options [Member] | Named Executive Officers [Member] | Minimum [Member]
Share-based Compensation [Abstract]
Exercise price of option granted as percentage of fair market value of shares at date of grant	100.00%
2013 Plan [Member] | Restricted Stock Units (RSUs) [Member]
Share-based Compensation [Abstract]
Vesting period	4 years

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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