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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