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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
shares in Thousands
Sep. 30, 2022
Dec. 31, 2021
Class Of Stock [Line Items]    
Common stock, reserved for future issuance 3,428 2,739
Stock awards issued and outstanding [Member]    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance 483 0
Stock options issued and outstanding [Member]    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance 1,978 2,000
Authorized for Grants under the 2016 Equity Incentive Plan    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1] 549 332
Authorized for grants under the 2016 Employee Stock Purchase Plan    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [2] 378 326
Authorized for Grants under the Inducement Plan    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [3] 40 81
[1] On January 1, 2022, the number of authorized shares in the 2016 Plan increased by 404,000 shares pursuant to the evergreen provisions of the 2016 Plan.
[2] On January 1, 2022, the number of authorized shares in the 2016 Employee Stock Purchase Plan increased by 100,000 shares pursuant to the evergreen provisions of the 2016 Employee Stock Purchase Plan.
[3] On February 5, 2021, 300,000 shares were authorized pursuant to the terms of the Inducement Plan; 76,000 shares were issued under the Inducement Plan during the nine months ended September 30, 2022.