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Facility Leases [Member] Facility Leases [Member] May 2023 Tranche A Warrants [Member] May 2023 Tranche A warrants May Two Thousand Twenty Three Tranche A Warrants [Member] May two thousand twenty three tranche a warrants. Statement of Cash Flows [Abstract] Common stock, maximum aggregate value purchase price. Common Stock Maximum Aggregate Purchase Price Common stock, maximum aggregate purchase price Accumulated other comprehensive loss Accumulated Other Comprehensive Income (Loss), Net of Tax Accumulated Other Comprehensive Income (Loss), Net of Tax, Total Issuance of restricted stock units value and option exercises under equity incentive plan. Issuance Of Restricted Stock Units Value And Option Exercises Under Equity Incentive Plan Issuance of restricted stock units under equity incentive plan Common Stock, Par or Stated Value Per Share Common stock, par value (in dollars per share) Warrants exercised Exercise of common stock warrants (shares) Class of warrant or right exercised. 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Lessee Operating Lease Month And Year Of Expiration Operating lease, expiration Fair Value, Inputs, Level 3 [Member] Level 3 [Member] APIC, Share-Based Payment Arrangement, Increase for Cost Recognition Stock-based compensation APIC, Share-Based Payment Arrangement, Increase for Cost Recognition, Total Fair Value, Recurring and Nonrecurring [Table] Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Table] Fair Value Adjustment of Warrants Change in fair value of stock warrants Change in fair value of warrants liabilities Net increase (decrease) in cash and cash equivalents Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents, Period Increase (Decrease), Including Exchange Rate Effect Purchase price contingent liability. Purchase Price Contingent Liability [Member] Purchase price contingent liability [Member] General and Administrative Expense [Member] General and Administrative [Member] Supplemental disclosure of non-cash financing information Noncash Investing and Financing Items [Abstract] Securities Purchase Agreement [Member] Securities Purchase Agreement [Member] Securities Purchase Agreement [Member] CALIFORNIA Redwood City, California [Member] Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table Text Block] Schedule of Potentially Dilutive Securities Outstanding Excluded from Computations of Diluted Weighted-Average Shares Outstanding City Area Code City Area Code Net Cash Provided by (Used in) Operating Activities [Abstract] Cash flows from operating activities: Schedule Of Significant Accounting Policies [Table] Schedule Of Significant Accounting Policies [Table] Schedule Of Significant Accounting Policies [Table] Noncash lease expense. Noncash Lease Expense Non-cash lease expense General and Administrative Expense General and administrative General and Administrative Expense, Total March 2022 Warrants [Member] March Two Thousand Twenty Two Warrants [Member] March two thousand twenty two warrants. Weighted-average common shares outstanding used to calculate basic shares Weighted Average Number of Shares Outstanding, Basic Weighted-average common shares outstanding used to calculate basic net loss per common share Weighted Average Number of Shares Outstanding, Basic, Total Cantor Fitzgerald and Co. Cantor Fitzgerald And Co [Member] Cantor [Member] Employee Stock [Member] Employee Stock Purchase Plan [Member] Net Cash Provided by (Used in) Financing Activities [Abstract] Cash flows from financing activities: Lessee, Operating Lease, Description Operating lease, description Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block] Summary of Restricted Stock Unit Transactions Lessee, operating lease commencement month and year. 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Share Based Compensation Arrangement By Share Based Payment Award Options Vested Aggregate Intrinsic Value Options vested at end of period Common Stock Warrants [Member] Common stock warrants. Common Stock Warrants [Member] Cover [Abstract] Vesting Vesting [Axis] Document Fiscal Year Focus Document Fiscal Year Focus Total of the carrying values as of the balance sheet date of obligations incurred through that date and payable for obligations related to clinical trial services received from vendors, such as accrued contract research organization costs, patient costs, clinical site costs and clinical product cost. Used to reflect the current portion of the liabilities (due within one year or within the normal operating cycle if longer). 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Increase Decrease In Operating Lease Liabilities Operating lease liabilities Income Statement Location [Axis] Income Statement Location Two Thousand and Ten and Two Thousand and Twelve Convertible Promissory Notes [Member] Two Thousand And Ten And Two Thousand And Twelve Convertible Promissory Notes [Member] 2010 and 2012 Convertible Promissory Notes [Member] Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Dividend Rate Dividend rate Expected dividend yield Net Income (Loss), Including Portion Attributable to Noncontrolling Interest Net loss Net Income (Loss), Including Portion Attributable to Noncontrolling Interest, Total Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items] Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation [Line Items] Fair Value, Inputs, Level 2 [Member] Level 2 [Member] Right-of-Use Asset Obtained in Exchange for Finance Lease Liability Increase in lease liability Title of 12(b) Security Title of 12(b) Security Exercisable warrants maximum aggregate exercise price ExercisableWarrants Maximum Aggregate Exercise price Exercisable warrants maximum aggregate exercise price. Warrants To Purchase Stock [Member] Warrants To Purchase Common Stock [Member] Warrants to Purchase Stock [Member] Schedule Of Significant Accounting Policies [Line Items] Schedule Of Significant Accounting Policies [Line Items] Schedule Of Significant Accounting Policies [Line Items] Accounting Standards Update [Axis] Net Cash Provided by (Used in) Investing Activities [Abstract] Cash flows from investing activities: Commitments and contingencies. Commitments And Contingencies [Line Items] Commitments And Contingencies [Line Items] Long-Lived Tangible Asset [Domain] Long-Lived Tangible Asset Fair Value, Liability, Recurring Basis, Unobservable Input Reconciliation, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration] Subsequent Event [Table] Subsequent Event [Table] Percentage of the probability of achieving the milestone. Percentage Of Probability Of Achieving Milestone Percentage of probability of achieving milestone Two thousand twenty three tranche a pre funded warrants. 2023 Tranche A Pre-funded Warrants [Member] Two Thousand Twenty Three Tranche A Pre-funded Warrants [Member] Underwriter [Member] Underwriter [Member] Underwriter [Member] Warrants Issued to Underwriter to Purchase Common Stock [Member] May 2023 Tranche A Pre-funded Warrants [Member] May 2023 Tranche A pre-funded warrants May Two Thousand Twenty Three Tranche A Pre Funded Warrants [Member] May two thousand twenty three tranche a pre funded warrants. Common Stock, Shares, Outstanding Common stock, shares outstanding Number of shares available for issuance under the plan on the first day of each year Common Stock, Shares, Outstanding, Beginning Balance Common Stock, Shares, Outstanding, Ending Balance Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Risk Free Interest Rate Risk-free interest rate Restricted stock units canceled/forfeited (in dollars per share) Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeitures, Weighted Average Grant Date Fair Value Operating lease cost and sublease income. Operating Lease Cost And Sublease Income Total operating lease cost Other non-cash reconciling items. Other Non Cash Reconciling Items Other non-cash reconciling items Proceeds from exercise of common stock warrants, net of costs Proceeds from warrant exercise Proceeds from Warrant Exercises Fair Value Measurements, Recurring and Nonrecurring [Table Text Block] Summary of Financial Instruments Measured at Fair Value on Recurring Basis Derivative Financial Instruments, Liabilities [Member] Derivative Financial Instruments, Liabilities [Member] Income Statement Location [Domain] Income Statement Location Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price Options granted (in dollars per share) Two thousand and fourteen equity incentive plan and two thousand twenty inducement equity incentive plan. Two Thousand And Fourteen Equity Incentive Plan And Two Thousand Twenty Inducement Equity Incentive Plan [Member] 2014 Plan and Inducement Plan [Member] Document Type Document Type Liquidity Liquidity Disclosure [Text Block ] Liquidity disclosure. Warrants and rights exercisable term from following receipt of U.S. Food and drug administration approval Warrants And Rights Exercisable Term From Following Receipt of U.S. Food and Drug Administration Approval Warrants and rights exercisable term from following receipt of U.S. Food and drug administration approval. Fair Value by Liability Class [Domain] Fair Value by Liability Class Net Cash Provided by (Used in) Investing Activities Net cash used in investing activities Document Quarterly Report Document Quarterly Report Counterparty Name [Domain] Counterparty Name Warrants and Rights Outstanding Fair value of estimated warrants Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeited in Period Restricted stock units canceled/forfeited Net cash provided by financing activities Net Cash Provided by (Used in) Financing Activities Reverse stock split. Reverse Stock Split Policy [Policy Text Block] Reverse Stock Split Entity Filer Category Entity Filer Category Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, Net of Tax Foreign currency translation adjustment Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, Net of Tax, Total Class Of Warrant Or Right, Warrant Term Class Of Warrant Or Right Warrant Term Warrants term Weighted Average Remaining Term Total other income (expense), net Nonoperating Income (Expense) Two thousand eighteen PIPE warrant liability to purchase common stock. Two Thousand Eighteen P I P E Warrant Liability To Purchase Common Stock [Member] 2018 PIPE Warrant Liability [Member] Liabilities Total liabilities Equity, Attributable to Parent Balances at ending Balances at beginning Total stockholders’ equity Intangible Assets, Net (Excluding Goodwill) Intangible assets, net Intangible Assets, Net (Excluding Goodwill), Total Proceeds from sale of common stock and common stock warrants, net of issuance costs Proceeds from Sale of Common Stock and Common Stock Warrants, Net of Issuance Costs Proceeds from sale of common stock and common stock warrants, net of issuance costs. Net Income (Loss) Net loss Net loss Other income (expense), net Nonoperating Income (Expense) [Abstract] Incentive Stock Options [Member] Incentive Stock Options [Member] ISOs [Member] Increase (Decrease) in Stockholders' Equity [Roll Forward] Increase (Decrease) in Stockholders' Equity [Roll Forward] Business Description and Basis of Presentation [Text Block] Overview March 2022 Common Warrants [Member] March 2022 common warrants March Two Thousand Twenty Two Common Warrants [Member] March two thousand twenty two common warrants. Statement of Financial Position [Abstract] Basis of Presentation and Significant Accounting Policies [Text Block] Basis of Presentation and Summary of Significant Accounting Policies Weighted-average common shares outstanding used to calculate diluted shares Weighted Average Number of Shares Outstanding, Diluted Weighted-average common shares outstanding used to calculate diluted net loss per common share Weighted Average Number of Shares Outstanding, Diluted, Total Price per share Shares Issued, Price Per Share Price per unit Warrants Warrant Liability Disclosure [Text Block] Warrant Liability Disclosure [Text Block] Operating Lease, Weighted Average Remaining Lease Term Operating lease remaining term Share-Based Compensation Arrangement by Share-Based Payment Award, Purchase Price of Common Stock, Percent Percentage of fair market value Use of Estimates, Policy [Policy Text Block] Use of Estimates Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price Ending balance (in dollars per share) Beginning balance (in dollars per share) May two thousand twenty three tranche B pre funded exchange warrants. May 2023 Tranche B Pre-funded Exchange Warrants [Member] May Two Thousand Twenty Three Tranche B Pre Funded Exchange Warrants Member Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] Stock and Warrants Issued During Period, Value, Preferred Stock and Warrants Sale and issuance of warrants to purchase common stock Fair Value Disclosures [Abstract] May two thousand twenty three tranche A pre-funded exchange warrants. May 2023 Tranche A Pre-funded Exchange Warrants [Member] May Two Thousand Twenty Three Tranche A Pre Funded Exchange Warrants Member Share-Based Compensation Arrangement by Share-Based Payment Award, Percentage of Outstanding Stock Maximum Percentage of outstanding stock maximum Fair Value Hierarchy and NAV [Axis] Fair Value Hierarchy and NAV Measurement Frequency [Domain] Measurement Frequency Asset acquisition contingent consideration change in fair value. Asset Acquisition Contingent Consideration Change In Fair Value Change in fair value of contingent consideration Payments to Acquire Property, Plant, and Equipment Purchases of property and equipment Payments to Acquire Property, Plant, and Equipment, Total Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period Restricted stock units vested Stock Issued During Period, Shares, New Issues Issuance of common stock (shares) Sale of common stock\pre-funded warrants in public offering, net of costs (shares) Employee-related Liabilities, Current Accrued compensation Employee-related Liabilities, Current, Total Class of Warrant or Right [Axis] Class of Warrant or Right