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Loans and Convertible Notes Payable - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended 12 Months Ended
Mar. 31, 2023
Mar. 15, 2023
Aug. 06, 2021
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Apr. 18, 2023
Debt Instrument [Line Items]                  
Warrant exercise price (in dollars per share)                 $ 0.01
Restricted cash       $ 50 $ 4,151 $ 50 $ 4,151    
Principal payment           6,313 0    
Final payment           500   $ 500  
Interest expense incurred (less than)       300 400 800 800    
Secured Convertible Notes Payable                  
Debt Instrument [Line Items]                  
Debt instrument, principal face amount       $ 2,000   $ 2,000      
Series E                  
Debt Instrument [Line Items]                  
Debt instrument, conversion price (in dollars per share)       $ 1,500   $ 1,500      
Series E | Secured Convertible Notes Payable                  
Debt Instrument [Line Items]                  
Debt instrument, conversion price (in dollars per share)     $ 1,198            
Avenue Loan                  
Debt Instrument [Line Items]                  
Debt instrument, principal face amount     $ 3,000            
Interest rate     7.70%            
Debt instrument, interest rate     10.95% 15.95%          
Initial tranche of loan     $ 15,000            
Loan amount funded into restricted account     4,000            
Net equity proceeds     $ 20,000            
Debt instrument, conversion price (in dollars per share)     $ 11.98            
Restricted cash   $ 4,000              
Principal payment   $ 2,100              
Debt instrument, incremental final payment, percentage   4.25%              
Final payment   $ 200              
Amortization of debt discount       $ 200   $ 400      
Avenue Loan | Condition for the Extension of Period of Interest Only Payments                  
Debt Instrument [Line Items]                  
Warrant exercise price (in dollars per share) $ 0.01                
Estimated minimum proceeds on issue of common stock for extension of due date of interest only interest payments $ 10,000                
Number of warrants outstanding (in shares) 34,072                
Avenue Loan | Warrant                  
Debt Instrument [Line Items]                  
Warrants issued to purchase of common stock (in shares)     127,755            
Warrant exercise price (in dollars per share)     $ 0.01            
Avenue Loan | Maximum                  
Debt Instrument [Line Items]                  
Debt instrument, principal face amount     $ 20,000            
Rosalind Notes | Convertible Notes Payable                  
Debt Instrument [Line Items]                  
Interest rate       8.00%   8.00%      
Rosalind Notes | Convertible Debt                  
Debt Instrument [Line Items]                  
Interest expense incurred (less than)       $ 100 $ 100 $ 100 $ 100