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Stockholders' Equity - Additional Information (Details) - shares
shares in Thousands
Mar. 31, 2023
Dec. 31, 2022
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1] 4,154 3,825
2021 Inducement Plan    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1],[2] 323 294
2016 Equity Incentive Plan    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1],[3] 328 507
[1] The table above excludes 541,000 treasury stock shares as of March 31, 2023 and December 31, 2022.
[2] On February 5, 2021, 300,000 shares were authorized pursuant to the terms of the Inducement Plan.
[3] On January 1, 2023, the number of authorized shares in the 2016 Plan increased by 431,000 shares pursuant to the evergreen provisions of the 2016 Plan.