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Debt Obligations (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Mar. 31, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Debt Obligations [Abstract]          
Common stock, shares issued 245,792,668   245,792,668   189,213,948
Long-term debt, net of deferred issuance costs $ (98,772,000)   $ (98,772,000)   $ (48,579,000)
Long-Term Debt 98,800,000   98,800,000    
Term Loan A   $ 25,000,000      
Term Loan B         $ 25,000,000
Term Loan C 50,000,000   50,000,000    
Term Loan D 25,000,000   25,000,000    
Term Loan E $ 25,000,000   $ 25,000,000    
Oxford Loan Facility   $ 150,000,000      
Term Loan D Warrant % 1.75%   1.75%    
Term Loan A Warrants Number   420,673      
Term Loan A Warrant Exercise Price   $ 2.08      
Term Loan B Warrants Number         224,128
Term Loan B Warrant Exercise Price         $ 1.95
Term Loan C Warrants Number $ 183,824   $ 183,824    
Term Loan C Warrant Exercise Price $ 2.38   $ 2.38    
Adjustments to Additional Paid in Capital, Warrant Issued $ 307,000 $ 698,000 $ 307,000 $ 698,000  
Debt Instrument, Interest Rate, Stated Percentage       7.90%  
Long-Term Debt, Percentage Bearing Fixed Interest, Percentage Rate       8.01%  
Final Payment % with no extention 6.00%   6.00%    
Final Payment % with extention 7.00%   7.00%    
Term Loan A Final Payment $ 6,000,000   $ 6,000,000    
2026 Oxford Principal Payments 34,800,000   34,800,000    
2027 Oxford Principal Payments 52,200,000   52,200,000    
2027 Oxford Principal Payments2 $ 19,000,000.0   19,000,000.0    
Amortization of Debt Discount (Premium)     $ 500,000    
Term Loan C & D, Interest Rate, Stated Percentage 7.00%   7.00%    
Debt Instrument, Unamortized Discount (Premium) and Debt Issuance Costs, Net $ 7,200,000   $ 7,200,000    
Debt, Weighted Average Interest Rate 12.70%   12.70%    
Term Loan Incremental Interest Component 0.10%   0.10%