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Loans and Convertible Notes Payable - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
Aug. 14, 2023
Mar. 31, 2023
Mar. 15, 2023
Aug. 06, 2021
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Debt Instrument [Line Items]                    
Restricted Cash $ 50         $ 50 $ 4,151 $ 50 $ 4,151  
Principal payment               6,313 0  
Final payment               500   $ 500
Proceeds from exercise of warrants               35,004 0  
Interest expense incurred (less than)           $ 300 400 $ 1,100 1,300  
Preferred Tranche A Warrant                    
Debt Instrument [Line Items]                    
Proceeds from exercise of warrants   $ 10,000                
Series E                    
Debt Instrument [Line Items]                    
Debt instrument, conversion price (in dollars per share) $ 1,500         $ 1,500   $ 1,500    
Secured Convertible Notes Payable                    
Debt Instrument [Line Items]                    
Debt instrument, principal face amount $ 2,000         $ 2,000   $ 2,000    
Secured Convertible Notes Payable | Series E                    
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 16.20%       10.95%          
Initial tranche of loan         $ 15,000          
Loan amount funded into restricted account         $ 4,000          
Restricted Cash       $ 4,000            
Principal payment       $ 2,100            
Debt instrument, incremental final payment, percentage       4.25%            
Final payment       $ 200            
Debt instrument, conversion price (in dollars per share)         $ 11.98          
Amortization of debt discount           $ 200 $ 200 600 600  
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 | Condition for the Extension of Period of Interest Only Payments                    
Debt Instrument [Line Items]                    
Estimated minimum proceeds on issue of common stock for extension of due date of interest only interest payments     $ 10,000              
Warrant exercise price (in dollars per share)     $ 0.01              
Number of warrants outstanding (in shares)     34,072              
Rosalind Notes | Convertible Debt                    
Debt Instrument [Line Items]                    
Interest expense incurred (less than)               $ 100 $ 100  
Rosalind Notes | Convertible Notes Payable                    
Debt Instrument [Line Items]                    
Interest rate 8.00%         8.00%   8.00%    
Maximum | Avenue Loan                    
Debt Instrument [Line Items]                    
Debt instrument, principal face amount         $ 20,000