Quarterly Selected Financial Data (unaudited) (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Quarterly Selected Financial Data (unaudited)                              
Operating Expenses $ 6,810 $ 9,047 $ 11,290 $ 11,483 $ 9,879 $ 9,845 $ 10,767 $ 13,269         $ 38,630 $ 43,760 $ 48,854
Net income (loss) $ (9,236) $ (10,673) $ (11,752) $ (11,580)                      
Net income (loss) per share, basic $ (0.20) $ (0.24) $ (0.28) $ (0.34) $ 0.92 $ (0.33) $ (0.36) $ (0.44)         $ (1.03) $ (0.20) $ (1.59)
Net income (loss) per share, diluted $ (0.20) $ (0.24) $ (0.28) $ (0.34)         $ 0.92 $ (0.33) $ (0.36) $ (0.44) $ (1.03) $ (0.20) $ (1.59)