Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Equity Incentive Plans (Details)

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Stockholders' Equity - Equity Incentive Plans (Details) - USD ($)
$ in Thousands
3 Months Ended
Dec. 15, 2016
Mar. 31, 2022
Mar. 31, 2021
Equity Incentive Plans      
Stock-based compensation   $ 1,155 $ 1,111
Research and Development Expense      
Equity Incentive Plans      
Stock-based compensation   275 260
General and Administrative Expense      
Equity Incentive Plans      
Stock-based compensation   873 840
Cost of goods sold      
Equity Incentive Plans      
Stock-based compensation   $ 7 $ 11
Maximum      
Equity Incentive Plans      
Term of award   10 years  
Vesting period   4 years  
Inducement Plan      
Equity Incentive Plans      
Authorized (in shares) 500,000