Connect to a Nerves system using SSH

Is it possible to connect to a Nerves system using SSH? My goal for now is to get to the IEx prompt over SSH instead of over an FTDI cable. This will be useful especially after the unit is installed in a relatively inaccessible location.

I know that Nerves.Firmware.SSH — nerves_firmware_ssh v0.4.6 existsbut that appears to only be about deploying/updating firmware over SSH.