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Restatement of Prior Financial Information - CONSOLIDATED STATEMENTS OF STOCKHOLDERS EQUITY (Details) - USD ($)
$ in Thousands
 3 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Sep. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Issue of common stock on At Market Issuance sales agreement, net of expenses   $ 453            
Total stockholders' equity $ 6,671 29,532 $ 4,297 $ 10,578 $ 15,939 $ 22,497 $ 33,840 $ 37,693
Common Stock                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Issue of common stock on At Market Issuance sales agreement, net of expenses 1              
Total stockholders' equity 10 10 12 9 9 9 10 10
Additional Paid-in Capital                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Issue of common stock on At Market Issuance sales agreement, net of expenses 1,104 453            
Total stockholders' equity 424,737 424,010 428,464 423,324 422,973 422,542 423,290 422,960
Accumulated Other Comprehensive Loss                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Total stockholders' equity (1,097) (1,276) (1,168) (1,224) (1,316) (1,746) (823) (748)
Accumulated Deficit                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Total stockholders' equity (416,979) (393,212) $ (423,011) (411,531) (405,727) $ (398,308) $ (388,637) $ (384,529)
As previously reported                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Total stockholders' equity 5,136     10,148        
As previously reported | Common Stock                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Total stockholders' equity 9              
As previously reported | Additional Paid-in Capital                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Total stockholders' equity   423,633            
As previously reported | Accumulated Deficit                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Total stockholders' equity   $ (417,409)   (411,961) (406,157)      
Adjustments                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Total stockholders' equity 1,535     430        
Adjustments | Common Stock                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Issue of common stock on At Market Issuance sales agreement, net of expenses 1              
Total stockholders' equity 1              
Adjustments | Additional Paid-in Capital                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Issue of common stock on At Market Issuance sales agreement, net of expenses 1,104              
Total stockholders' equity 1,104              
Adjustments | Accumulated Deficit                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Total stockholders' equity $ 430     $ 430 $ 430