Notes Payable, Preferred Stock and Stock Purchase Warrants - Carrying amount of notes payable (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Jan. 27, 2021	Aug. 09, 2020	Apr. 21, 2020	Jul. 31, 2019	Feb. 28, 2018	Jan. 31, 2018
Debt Instrument [Line Items]
Carrying Amount	$ 56,383	$ 59,798
2023 Notes
Debt Instrument [Line Items]
Principal	15,700	15,700					$ 3,000	$ 50,000
Debt Discount	(121)	(1,499)
Carrying Amount	15,579	14,201
2025 Notes
Debt Instrument [Line Items]
Principal	51,199	51,199	$ 6,800		$ 24,000	$ 82,000
Debt Discount	(15,029)	(20,535)
Issuance Costs	(252)	(344)				$ (3,300)
Carrying Amount	35,918	30,320
PHC Notes
Debt Instrument [Line Items]
Principal	35,000	35,000		$ 35,000
Debt Discount	(13,698)	(18,587)
Issuance Costs	(837)	(1,136)		$ (2,900)
Carrying Amount	$ 20,465	15,277
PPP Loan
Debt Instrument [Line Items]
Principal		2,926
Carrying Amount		$ 2,926