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Loans and Convertible Notes Payable - Additional Information (Details) - USD ($) |  |  | 3 Months Ended
--- | --- | --- | ---
Mar. 15, 2023 | Aug. 06, 2021 | Mar. 31, 2023 | Mar. 31, 2022
Debt Instrument [Line Items] |  |  |  |
Interest expense incurred |  |  | $ 500,000 | $ 400,000
Restricted Cash |  |  | 50,000 | 4,151,000
Final payment |  |  | $ 467,500 |
Secured Convertible Notes Payable [Member] |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Debt instrument, principal face amount |  | $ 2,000,000 |  |
Series E Preferred Stock [Member] |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Debt instrument, conversion price |  |  | $ 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 |  | $ 3,000,000 |  |
Debt instrument maturity date |  | Aug. 01, 2024 |  |
Debt instrument, interest rate |  | 7.70% |  |
Debt instrument, interest rate |  | 10.95% | 15.45% |
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 March 31, 2023 was 15.45%. The Avenue Loan is secured by all of the Company’s assets globally, including intellectual property. | 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 March 31, 2023 was 15.45%. The Avenue Loan is secured by all of the Company’s assets globally, including intellectual property. |
Initial tranche of loan |  | $ 15,000,000 |  |
Loan amount funded into restricted account |  | 4,000,000 |  |
Gross proceeds from ATM Offering |  | $ 20,000,000 |  |
Debt instrument, conversion price |  | $ 11.98 |  |
Frequency of periodic payment |  | monthly |  |
Periodic interest payments, term |  | 15 months |  |
Debt instrument, incremental final payment | 4.25% | 4.25% |  |
Original issue discount |  | $ 600,000 |  |
Cash issuance costs |  | 600,000 |  |
Debit discount |  | 500,000 |  |
Fair value of warrants reclassified from liability to equity |  | 100,000 |  |
Aggregate debt discount |  | $ 2,300,000 |  |
Amortization of debt discount |  |  | $ 200,000 |
Current interest rate |  | 7.70% |  |
Restricted Cash | $ 4,000,000 |  |  |
Final payment | $ 200,000 |  |  |
Term Loan from Avenue Venture Opportunities Fund L.P [Member] | Condition For The Extension Of Period OF Interest Only Payments [Member] |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Class of warrants or rights number of securities covered by the warrants or rights | 34,072 |  |  |
Warrant exercise price | $ 0.01 |  |  |
Estimated minimum proceeds on issue of common stock for extension of due date of interest only interest payments | $ 10,000,000 |  |  |
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 |  | $ 1,200,000 |  |
Term Loan from Avenue Venture Opportunities Fund L.P [Member] | Maximum [Member] |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Debt instrument, principal face amount |  | $ 20,000,000 |  |
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 |  | $ 1,900,000 |  |
Amortization of debt discount |  |  | $ 200,000 |
Term Loan from Avenue Venture Opportunities Fund L.P [Member] | Convertible Debt [Member] |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Aggregate debt discount |  | $ 400,000 |  |
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% |
Current interest rate |  |  | 8.00% |
Eight Point Zero Percentage July Two Thousand And Nineteen Notes [Member] | Convertible Debt [Member] |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Interest expense incurred |  |  | $ 40,000 | $ 40,000

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