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Equity (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 1 Months Ended | 12 Months Ended |  |  |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Apr. 24, 2020 | Aug. 31, 2020 | Jun. 19, 2020 | Dec. 31, 2021 | Dec. 31, 2020 | Nov. 09, 2021 | Nov. 18, 2020 | Jun. 30, 2020 | Apr. 30, 2020 | Dec. 31, 2019 | Mar. 14, 2017 | Dec. 31, 2013 | Sep. 30, 2013
Equity (Details) [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Sale of common stock, shares | 4,300,000 |  |  | 4,600,000 | 2,100,000 |  |  |  |  |  |  |  |
Warrants to purchase shares of common stock | 2,800,000 |  |  |  |  |  |  |  |  |  |  |  |
Public offering each share of common stock (in Dollars per share) | $ 4.5 |  |  |  |  |  |  |  |  |  |  |  |
Each pre-funded warrant (in Dollars per share) | 4.497 |  |  |  |  |  |  |  |  |  |  |  |
Exercise price of warrant (in Dollars per share) | $ 0.003 |  | $ 0.003 |  | $ 0.003 |  |  |  |  |  |  |  |
Gross proceeds (in Dollars) | $ 31,600 |  |  | $ 36,500 | $ 22,600 |  |  |  |  |  |  |  |
Net proceeds of public offering (in Dollars) | $ 29,100 |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock |  |  |  |  | 700,000 |  |  |  |  |  |  |  |
Pre-funded amount |  |  |  |  | 700,000 |  |  |  |  |  |  |  |
Equity description |  | the Company entered into the Capital on Demand™ Sales Agreement with JonesTrading Institutional Services LLC (“JonesTrading”), pursuant to which the Company may sell, from time to time, through or to JonesTrading, up to an aggregate of $200 million of its common stock. Shares of common stock are offered pursuant to the Company’s shelf registration statement on Form S-3 filed with the SEC on August 7, 2020. |  |  |  |  |  |  |  |  |  |  |
Net proceeds (in Dollars) |  |  |  | $ 35,300 | $ 21,700 |  |  |  |  |  |  |  |
Stock option |  |  |  | 881,000 | 458,000 |  |  |  |  |  |  |  |
Option exercise price minimum (in Dollars per share) |  |  |  | $ 6.02 | $ 6.63 |  |  |  |  |  |  |  |
Option exercise price maximum (in Dollars per share) |  |  |  | $ 9.25 | $ 12.41 |  |  |  |  |  |  |  |
Stock options, term |  |  |  | 10 years | 10 years |  |  |  |  |  |  |  |
Aggregated fair value (in Dollars) |  |  |  |  | $ 3,200 |  |  |  |  |  |  |  |
Stock option cancelations |  |  |  | 333,000 | 23,000 |  |  |  |  |  |  |  |
Exercised for shares of common stock |  |  |  |  | 1,000 |  |  |  |  |  |  |  |
Unrecognized compensation expense (in Dollars) |  |  |  |  | $ 4,900 |  |  |  |  |  |  |  |
Vesting period |  |  |  |  | 3 years 3 months 18 days |  |  |  |  |  |  |  |
Compensation expense related to stock options (in Dollars) |  |  |  | $ 1,500 | $ 1,200 |  |  |  |  |  |  |  |
Outstanding warrant to purchase shares of common stock, issued |  |  |  |  |  |  |  |  |  |  | 1,907 |  |
Deemed dividend to common stockholders (in Dollars) |  |  |  |  | 1 |  |  |  |  |  |  |  |
Stock based compensation expense warrants (in Dollars) |  |  |  | $ 16 | $ 13 |  |  |  |  |  |  |  |
2013 Amended and Restated Stock Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Equity (Details) [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares authorized |  |  |  | 758,333 |  |  |  |  |  |  |  |  | 91,666
Equity Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Equity (Details) [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Aggregate fair value (in Dollars) |  |  |  | $ 3,900 |  |  |  |  |  |  |  |  |
Minimum [Member] | Equity Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Equity (Details) [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  | 4 years | 4 years |  |  |  |  |  |  |  |
Maximum [Member] | Equity Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Equity (Details) [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  | 4 years 2 months 12 days | 4 years 2 months 12 days |  |  |  |  |  |  |  |
Warrant [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Equity (Details) [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price of warrant (in Dollars per share) |  |  |  |  |  |  |  | $ 15.62 | $ 26.4 |  |  |  |
2019 Amended and Restated Stock Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Equity (Details) [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares authorized |  |  |  |  |  | 5,833,333 | 3,083,333 |  |  | 333,333 |  |  |
2013 Equity Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Equity (Details) [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares authorized |  |  |  |  |  |  |  |  |  |  |  | 33,333 | 15,000
Pre-Funded Warrants [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Equity (Details) [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price of warrant (in Dollars per share) |  |  |  |  | $ 0.003 |  |  |  |  |  |  |  |
Gross proceeds (in Dollars) |  |  | $ 25,000 |  |  |  |  |  |  |  |  |  |
Net proceeds of public offering (in Dollars) |  |  | $ 23,000 |  |  |  |  |  |  |  |  |  |
Issuance of common stock |  |  | 1,900,000 |  | 2,800,000 |  |  |  |  |  |  |  |
Warrant to purchase of common stock |  |  | 700,000 |  |  |  |  |  |  |  |  |  |
Exercise price per share (in Dollars per share) |  |  |  |  | $ 0.003 |  |  |  |  |  |  |  |
Common Stock [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Equity (Details) [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Share price (in Dollars per share) |  |  | $ 9.75 |  |  |  |  |  |  |  |  |  |
Warrant [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Equity (Details) [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Share price (in Dollars per share) |  |  | $ 9.747 |  |  |  |  |  |  |  |  |  |

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