Debt - Narrative (Details)									12 Months Ended
	May 31, 2022 USD ($)	Dec. 30, 2021 USD ($)	Sep. 30, 2021 USD ($)	Jun. 30, 2021 USD ($)	Jun. 24, 2021 USD ($)	Apr. 21, 2021	Apr. 14, 2021 USD ($) loan installment	Feb. 11, 2019 USD ($) loan	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Debt
Unamortized deferred finance costs									$ 800,000
Repayment of principal									29,000,000	$ 41,750,000
Prepayment fee	$ 1,400,000
Proceeds from revolving loan debt										2,498,000
Interest and related expenses	300,000
Loss on early extinguishment of debt									2,324,000	$ 1,516,000
Prepayment premium									1,400,000
Other costs									100,000
IM Intellectual Property
Debt
Cash proceeds from sale	30,100,000
New Loan Agreement
Debt
Face amount of loan		$ 29,000,000.0
Unamortized deferred finance costs		920,000
Breakage fees		$ (180,000)
Percentage of closing fee		1.75%
Legal and other fees		$ 500,000
Deferred issuance cost		970,000
Quarterly installment payment		625,000
Final payment amount		20,875,000
Notice period to terminate or prepay										30 days
Repayment of principal	$ 28,400,000
Loss on early extinguishment of debt		(740,000)
New Loan Agreement | On Or Before First Anniversary
Debt
Maximum Prepayment Of Debt Amount		$ 1,400,000
Percentage of prepayment premium		5.00%
New Loan Agreement | LIBOR
Debt
Stated interest rate (as percentage)		7.50%
Incremental Term Loan
Debt
Face amount of loan		$ 25,000,000.0
Loan And Security Agreement With BHI And First Eagle Alternative Credit LLC
Debt
Number of term loans | loan							2
Unamortized deferred finance costs							$ 100,000
Breakage fees							$ 700,000
Percentage of closing fee							2.50%
Closing fee paid							$ 600,000
Legal and other fees							600,000
Deferred issuance cost							$ 1,200,000
Number of quarterly installments | installment							16
Quarterly installment payment							$ 625,000
Final payment amount							15,000,000.0
Repayment of principal			$ 1,250,000	$ 1,250,000
Loss on early extinguishment of debt							(800,000)
Xcel Term Loan
Debt
Floor rate of LIBOR (as percentage)						1.00%
Interest Expense									$ 1,200,000	$ 1,900,000
Effective interest rate (as percentage)									9.80%	8.70%
Xcel Term Loan A
Debt
Face amount of loan							$ 10,000,000.0
Xcel Term Loan A | LIBOR
Debt
Stated interest rate (as percentage)							4.00%
Xcel Term Loan B
Debt
Face amount of loan							$ 15,000,000.0
Xcel Term Loan B | LIBOR
Debt
Stated interest rate (as percentage)							8.00%
Term LoanA | Xcel Term Loan
Debt
Face amount of loan								$ 7,300,000
Second Amended And Restated Loan And Security Agreement | Xcel Term Loan
Debt
Face amount of loan								$ 22,000,000.0
Number of term loans | loan								2
Second Amended And Restated Loan And Security Agreement | Xcel Term Loan A
Debt
Stated interest rate (as percentage)								5.10%
Second Amended And Restated Loan And Security Agreement | Xcel Term Loan B
Debt
Stated interest rate (as percentage)								6.25%
Second Amended And Restated Loan And Security Agreement | Term LoanB | Xcel Term Loan B
Debt
Face amount of loan								$ 14,700,000
Revolving Credit Facility
Debt
Amount of future financing							$ 4,000,000.0
Percentage of the amount of eligible accounts receivable							85.00%
Interest Expense										$ 100,000
Line of Credit Facility, Interest Rate (as percent)					4.75%
Proceeds from revolving loan debt			$ 998,000		$ 1,500,000