| Share-based Payment Arrangement, Option and Restricted Stock Unit, Activity [Table Text Block] |
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Options Outstanding |
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RSUs Outstanding |
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Weighted- |
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Weighted- |
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Number of |
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Average |
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Average |
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Shares |
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Exercise |
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Grant Date |
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Available for |
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Number of |
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Price Per |
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Number of |
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Fair Value |
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Grant |
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Shares |
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Share |
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RSUs |
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Per Share |
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| Balance at December 31, 2021 |
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1,668,001 |
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1,026,712 |
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$ |
4.44 |
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5,246,875 |
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$ |
1.07 |
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| Authorized |
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7,000,000 |
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— |
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— |
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— |
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— |
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| Granted |
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(3,691,202 |
) |
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— |
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— |
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3,691,202 |
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0.69 |
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| Exercised/ Released |
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— |
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— |
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— |
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(2,297,130 |
) |
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0.90 |
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| Forfeited |
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285,455 |
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(32,445 |
) |
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5.78 |
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(253,010 |
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1.16 |
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| Balance at December 31, 2022 |
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5,262,254 |
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994,267 |
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4.40 |
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6,387,937 |
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0.91 |
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| Authorized |
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— |
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— |
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— |
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— |
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— |
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| Granted |
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(5,110,852 |
) |
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— |
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— |
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5,110,852 |
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0.85 |
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| Exercised/ Released |
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— |
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— |
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— |
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(2,676,931 |
) |
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0.99 |
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| Forfeited (1) |
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321,634 |
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(994,267 |
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4.40 |
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(167,367 |
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0.92 |
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| Returned to Plan |
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947,418 |
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— |
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— |
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— |
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— |
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| Balance at December 31, 2023 |
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1,420,454 |
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— |
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— |
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8,654,491 |
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$ |
0.86 |
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Weighted- |
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Average |
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Grant Date |
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Number of |
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Fair Value Per |
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Shares |
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Share |
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| Outstanding at January 1, 2023 |
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— |
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— |
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| Granted |
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475,282 |
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0.56 |
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| Outstanding at December 31, 2023 |
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475,282 |
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0.56 |
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| Disclosure of Share-Based Compensation Arrangements by Share-Based Payment Award [Table Text Block] |
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Number of Shares |
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| Equity Plan |
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| Subject to outstanding restricted shares |
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8,654,491 |
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| Available for future grants |
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1,420,454 |
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| Officer and Director Purchase Plan |
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237,382 |
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| Warrants |
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575,993 |
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| 2022 Employee Stock Purchase Plan |
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807,287 |
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| Total reserved shares |
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11,695,607 |
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