Equity - Additional Information (Details)				1 Months Ended	3 Months Ended				6 Months Ended
	Nov. 21, 2022 USD ($) $ / shares shares	Nov. 16, 2022 USD ($) $ / shares shares	Mar. 07, 2022 USD ($) shares	Nov. 30, 2021 USD ($)	Jun. 30, 2023 USD ($) $ / shares shares	Mar. 31, 2023 USD ($)	Jun. 30, 2022 USD ($)	Mar. 31, 2022 USD ($)	Jun. 30, 2023 USD ($) Facility $ / shares shares	Jun. 30, 2022 USD ($)	May 10, 2023 USD ($) $ / shares shares
Class of Stock [Line Items]
Proceeds from the sale of common shares										$ 16,135,000
Stock issuable per day, number of shares						$ (61,000)	$ 14,329,000	$ 1,417,000
Warrants, expires period					Feb. 23, 2028				Feb. 23, 2028
Perceptive Term Loan Facility
Class of Stock [Line Items]
Proceeds from the sale of common shares	$ 40,600,000
Public offering price per share of common stock | $ / shares	$ 1.15	$ 1.15
Initial warrants amount	$ 2,900,000	$ 2,900,000
Warrants, expires period	Nov. 21, 2032
Warrant, exercise price | $ / shares		$ 1.0648
Series G Preferred Stock | 2018 Notes
Class of Stock [Line Items]
Warrant issued to purchase shares | shares					613,333				613,333
Warrant, exercise price | $ / shares					$ 0.75				$ 0.75
Maximum
Class of Stock [Line Items]
Stock issuable per day, number of shares				$ 50,000,000.0
Maximum | Perceptive Term Loan Facility
Class of Stock [Line Items]
Warrant issued to purchase shares | shares	5,000,000	5,000,000
Tranche A Loan | Perceptive Term Loan Facility
Class of Stock [Line Items]
Warrant, exercise price | $ / shares	$ 1.0648
Equity Financing Programs
Class of Stock [Line Items]
Number of facility | Facility									2
Equity Financing Programs | Lincoln Park
Class of Stock [Line Items]
Common stock issuable, committed to purchase			$ 600,000
Diligence expenses and legal fees			$ 129,000
Purchase agreement term			36 months
Stock issuable per day, number of shares | shares			50,000
Shares issued or issuable, threshold limit description			Under applicable rules of the NASDAQ Global Market, in no event may the Company issue or sell to Lincoln Park under the Purchase Agreement more than 19.99% of the shares of the Company’s common stock outstanding immediately prior to the execution of the Purchase Agreement (the Exchange Cap), unless (i) the Company obtains stockholder approval to issue shares of common stock in excess of the Exchange Cap or (ii) the average price of all applicable sales of common stock to Lincoln Park under the Purchase Agreement equals or exceeds $2.20 per share, such that issuances and sales of the common stock to Lincoln Park under the Purchase Agreement would be exempt from the Exchange Cap limitation under applicable NASDAQ rules.
Maximum percentage of common stock allowed to purchase by counterparty			9.99%
Shares issued as commitment fee | shares			184,275
Commitment shares issuable on conditional basis | shares			61,425
Adjustments to additional paid-in capital deferred offering costs					$ 0		$ 18,000		$ 0	$ 18,000
Deferred offering costs			$ 729,000		$ 654,000				$ 654,000
Equity Financing Programs | Lincoln Park | Maximum
Class of Stock [Line Items]
Common stock issuable, committed to purchase			$ 50,000,000.0
Stock issuable per day, number of shares | shares			100,000
Stock issuable per day, value			$ 1,500,000
Shares issued as commitment fee, value			$ 20,000,000.0
IPO
Class of Stock [Line Items]
Warrant issued to purchase shares | shares					103,326				103,326
Warrant, exercise price | $ / shares					$ 4.46				$ 4.46
Expected Term | Perceptive Term Loan Facility
Class of Stock [Line Items]
Warrants expected term	10 years
Volatility | Perceptive Term Loan Facility
Class of Stock [Line Items]
Warrants and rights outstanding, measurement input	81.3
Dividend Yield | Perceptive Term Loan Facility
Class of Stock [Line Items]
Warrants and rights outstanding, measurement input	0
Risk-Free Interest Rate | Perceptive Term Loan Facility
Class of Stock [Line Items]
Warrants and rights outstanding, measurement input	3.67
ATM Facility | Equity Financing Programs
Class of Stock [Line Items]
Line of Credit Facility, Remaining Borrowing Capacity					$ 29,500,000				$ 29,500,000
LPC Facility | Equity Financing Programs
Class of Stock [Line Items]
Line of Credit Facility, Remaining Borrowing Capacity					$ 46,900,000				$ 46,900,000
First Amendment [Member]
Class of Stock [Line Items]
Warrant issued to purchase shares | shares											500,000
Initial warrants amount											$ 700,000
Warrants, expires period											May 10, 2033
Warrant, exercise price | $ / shares											$ 1.6254
First Amendment [Member] | Expected Term
Class of Stock [Line Items]
Warrants expected term											10 years
First Amendment [Member] | Volatility
Class of Stock [Line Items]
Warrants and rights outstanding, measurement input											78.7
First Amendment [Member] | Dividend Yield
Class of Stock [Line Items]
Warrants and rights outstanding, measurement input											0
First Amendment [Member] | Risk-Free Interest Rate
Class of Stock [Line Items]
Warrants and rights outstanding, measurement input											3.49