Credit Facility, Term Loans and Warrants - Additional Information (Details) - USD ($)					3 Months Ended
	Oct. 04, 2022	Sep. 29, 2022	Mar. 01, 2022	Dec. 22, 2021	Mar. 31, 2023	Sep. 30, 2022	Mar. 31, 2022	Dec. 31, 2022
Debt Instrument [Line Items]
Cash And Cash Equivalents At Carrying Value					$ 33,911,000		$ 44,281,000
Common stock, par value					$ 0.0001			$ 0.0001
Gross proceeds from the Registered Direct Offering							$ 27,007,000
MidCap Credit Facility
Debt Instrument [Line Items]
Gross proceeds received				$ 27,600,000
Aggregate principal amount				$ 110,000,000.0
Warrants to purchase shares				200,000
Credit facility maximum borrowing amount				$ 40,000,000.0
Warrants to purchase shares, exercise price					$ 4.70
Debt offset against and expense over the term				3 years
Common stock, par value				$ 0.0001
Credit facility, interest rate per annum				5.50%
Credit facility, unused capacity, commitment fee percentage				0.50%
Line of credit facility, maximum liquidity requirements during the period				$ 12,500,000
Line of credit facility, maximum liquidity requirements at all other times, cash on hand				$ 15,000,000.0
Line of credit facility, covenant terms					The Credit Agreement minimum liquidity covenant requires that Midcap shall not permit the credit party liquidity at any time to be less than (a) during the period commencing on February 1st through and including May 31st of each calendar year, $12.5 million and (b) at all other times, $15.0 million.
Warrants term					10 years
Warrant
Debt Instrument [Line Items]
Initial liability on issuance					$ 19,000,000.0
Warrant liability					$ 3,800,000
Securities Purchase Agreement | Common Stock
Debt Instrument [Line Items]
Warrants to purchase shares		10,643,034	4,827,242
Number of common shares issued	10,643,034	10,643,034	6,436,322
Gross proceeds from the Registered Direct Offering	$ 20.2
Securities Purchase Agreement | Common Stock Warrant
Debt Instrument [Line Items]
Warrants to purchase shares			2,260,388
Accrued, Unpaid interest			$ 2.91
Proceeds from warrant exercise			$ 27,500,000
Expense derived from anticipated fair-value of issuances of equity						$ 12,800,000
Securities Purchase Agreement | Prefunded Warrants | Common Stock Warrant
Debt Instrument [Line Items]
Warrants to purchase shares			3,013,850
Accrued, Unpaid interest			$ 2.9099
Securities Purchase Agreement | Accredited Purchasers | Common Stock
Debt Instrument [Line Items]
Warrants to purchase shares		10,526,368
Accrued, Unpaid interest		$ 1.90
Number of common shares issued		10,526,368
Securities Purchase Agreement | Insiders [Member]
Debt Instrument [Line Items]
Number of common shares issued		116,666
Securities Purchase Agreement | Insiders [Member] | Common Stock
Debt Instrument [Line Items]
Warrants to purchase shares		116,666
Accrued, Unpaid interest		$ 2.10
SOFR Plus | MidCap Credit Facility
Debt Instrument [Line Items]
Credit facility, interest rate per annum				0.10%