Income Taxes - Deferred tax assets (Details) - USD ($) $ in Thousands  | 
Dec. 31, 2021  | 
Dec. 31, 2020  | 
|---|---|---|
| Deferred tax assets: | ||
| Net operating loss carryforwards | $ 62,097 | $ 64,120 | 
| Research credit carryforwards | 14,738 | 15,228 | 
| Other, net | 1,113 | 1,005 | 
| Total deferred tax assets | 77,948 | 80,353 | 
| Other, net | (65) | (31) | 
| Total deferred tax liabilities | (65) | (31) | 
| Valuation allowance | (77,883) | (80,322) | 
| Net deferred tax assets | $ 0 | $ 0 | 
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- Definition Amount of deferred tax liability attributable to taxable temporary differences. Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef 
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- Definition Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences and carryforwards. Reference 1: http://www.xbrl.org/2003/role/disclosureRef 
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- References No definition available. 
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- Definition Amount, after allocation of valuation allowances and deferred tax liability, of deferred tax asset attributable to deductible differences and carryforwards, without jurisdictional netting. Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef 
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- Definition Amount before allocation of valuation allowances of deferred tax asset attributable to deductible operating loss carryforwards. Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef 
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- Definition Amount, before allocation of valuation allowance, of deferred tax asset attributable to deductible temporary differences, classified as other. Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef 
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- Definition Amount before allocation of valuation allowances of deferred tax asset attributable to deductible research tax credit carryforwards. Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef 
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- Definition Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized. Reference 1: http://www.xbrl.org/2003/role/disclosureRef 
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- Definition Amount of deferred tax liability attributable to taxable temporary differences classified as other. Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef 
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