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Loans and Convertible Notes Payable - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		3 Months Ended	12 Months Ended
	Aug. 06, 2021	Dec. 31, 2022	Dec. 31, 2022	Dec. 31, 2021	Mar. 15, 2023
Debt Instrument [Line Items]
Avenue warrant value			$ 1,300
Interest expense incurred			1,900
Restricted Cash		$ 4,151	$ 4,151	$ 4,151
Secured Convertible Notes Payable [Member]
Debt Instrument [Line Items]
Debt instrument, principal face amount	$ 2,000
Series E Preferred Stock [Member]
Debt Instrument [Line Items]
Debt instrument, conversion price		$ 1,500	$ 1,500
Series E Preferred Stock [Member] \| Secured Convertible Notes Payable [Member]
Debt Instrument [Line Items]
Debt instrument maturity date	Oct. 30, 2024
Debt instrument, conversion price	$ 1,198
Term Loan from Avenue Venture Opportunities Fund L.P [Member]
Debt Instrument [Line Items]
Debt instrument, principal face amount	$ 3,000
Debt instrument maturity date	Aug. 01, 2024
Debt instrument, interest rate	7.70%
Debt instrument, interest rate	10.95%		15.20%
Debt instrument, interest rate term	The Avenue Loan bears interest at an annual rate equal to the greater of (a) the sum of 7.70% plus the prime rate as reported in The Wall Street Journal and (b) 10.95%. The interest rate at December 31, 2022 was 15.2%. The Avenue Loan is secured by all of the Company’s assets globally, including intellectual property.
Initial tranche of loan	$ 15,000
Loan amount funded into restricted account	4,000
Gross proceeds from ATM Offering	20,000
Second tranche of loan	$ 5,000
Debt instrument, conversion price	$ 11.98
Frequency of periodic payment	monthly
Periodic interest payments, term	15 months
Debt instrument, incremental final payment	4.25%
Debt instrument, commitment fee	$ 150
Debt instrument, commitment fee, percentage	1.00%
Debt instrument, commitment fee upon funding of second tranche of loan	$ 200
Original issue discount	637
Cash issuance costs	563
Debit discount	519
Fair value of warrants reclassified from liability to equity	44
Aggregate debt discount	$ 2,327
Amortization of debt discount			$ 800
Current interest rate	7.70%
Minimum equity proceeds not raised		$ 20,000
Additional funding not eligible		$ 5,000
Term Loan from Avenue Venture Opportunities Fund L.P [Member] \| Subsequent Event [Member]
Debt Instrument [Line Items]
Restricted Cash					$ 4,000
Term Loan from Avenue Venture Opportunities Fund L.P [Member] \| Warrant [Member]
Debt Instrument [Line Items]
Warrants Issued ToPurchase Of Common Stock	127,755
Warrant exercise price	$ 0.01
Warrants, maturity date	Aug. 31, 2026
Fair value of the Avenue Warrant	$ 1,171
Term Loan from Avenue Venture Opportunities Fund L.P [Member] \| Maximum [Member]
Debt Instrument [Line Items]
Debt instrument, principal face amount	20,000
Debt instrument, converted amount	$ 3,000
Periodic interest payments, term	24 months
Prepayment fee, percentage	3.00%
Term Loan from Avenue Venture Opportunities Fund L.P [Member] \| Minimum [Member]
Debt Instrument [Line Items]
Prepayment fee, percentage	1.00%
Term Loan from Avenue Venture Opportunities Fund L.P [Member] \| Non Convertible Debt [Member]
Debt Instrument [Line Items]
Aggregate debt discount	$ 1,909
Term Loan from Avenue Venture Opportunities Fund L.P [Member] \| Convertible Debt [Member]
Debt Instrument [Line Items]
Aggregate debt discount	$ 418
Eight Point Zero Percentage July Two Thousand And Nineteen Notes [Member] \| Convertible Notes Payable [Member]
Debt Instrument [Line Items]
Debt instrument, interest rate		8.00%	8.00%
Current interest rate		8.00%	8.00%
Eight Point Zero Percentage July Two Thousand And Nineteen Notes [Member] \| Convertible Debt [Member]
Debt Instrument [Line Items]
Interest expense incurred			$ 160	$ 160