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Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 6 Months Ended |  |  |  |
--- | --- | --- | --- | --- | --- | ---
Mar. 31, 2023 | Jul. 31, 2020 | Apr. 30, 2019 | Jun. 30, 2023 | Jun. 30, 2022 | Dec. 31, 2022 | Jul. 31, 2022 | Feb. 28, 2018 | Feb. 15, 2018
Stockholders Equity [Line Items] |  |  |  |  |  |  |  |  |
Common stock, shares authorized (in shares) |  |  |  | 240,000,000 |  | 240,000,000 |  |  |
Exercise Price (in usd per share) |  |  |  |  |  |  |  | $ 3.00 |
Estimated fair value of warrants recorded in equity |  |  |  |  |  |  |  |  | $ 3,000
Warrant, exercise price, decrease (in usd per share) |  | $ 0.96 | $ 0.98 |  |  |  |  |  |
Number of common stock warrants exercised (in shares) |  |  |  | 1,353,515 | 0 |  |  |  |
Warrant exercises, gross |  |  |  | $ 1,300 |  |  |  |  |
March 2023 At The Market Sales Agreement |  |  |  |  |  |  |  |  |
Stockholders Equity [Line Items] |  |  |  |  |  |  |  |  |
Commission percent | 3.00% |  |  |  |  |  |  |  |
Sale of stock, number of shares issued (in shares) |  |  |  | 454,592 |  |  |  |  |
Shares of common stock for net proceeds |  |  |  | $ 463 |  |  |  |  |
Offering expenses |  |  |  | $ 11 |  |  |  |  |
October 2021 At The Market Sales Agreement |  |  |  |  |  |  |  |  |
Stockholders Equity [Line Items] |  |  |  |  |  |  |  |  |
Sale of stock, number of shares issued (in shares) |  |  |  | 0 | 0 |  |  |  |
April 2021 At The Market Sales Agreement |  |  |  |  |  |  |  |  |
Stockholders Equity [Line Items] |  |  |  |  |  |  |  |  |
Sale of stock, number of shares issued (in shares) |  |  |  | 0 | 0 |  |  |  |
Maximum |  |  |  |  |  |  |  |  |
Stockholders Equity [Line Items] |  |  |  |  |  |  |  |  |
Common stock, shares authorized (in shares) |  |  |  |  |  |  | 240,000,000 |  |
Issued shares | $ 50,000 |  |  |  |  |  |  |  |

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