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Loans and Convertible Notes Payable - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  |  |  | 1 Months Ended | 3 Months Ended | 6 Months Ended |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Aug. 14, 2023 | Mar. 31, 2023 | Mar. 15, 2023 | Aug. 06, 2021 | Jan. 31, 2024 | Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023 | Dec. 31, 2023
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Restricted cash |  |  |  |  |  | $ 0 | $ 50 | $ 0 | $ 50 |
Principal payments |  |  |  |  |  |  |  | 6,107 | 6,313 |
Final payment |  |  |  |  |  |  |  | 500 |  |
Proceeds from exercise of warrants |  |  |  |  |  |  |  | 259 | 5 |
Loan outstanding |  |  |  |  |  | $ 4,491 |  | $ 4,491 |  | $ 10,150
Warrants issued to purchase of common stock (in shares) |  |  |  | 127,755 |  |  |  |  |  |
Warrant exercise price (in dollars per share) |  | $ 0.01 |  | $ 0.01 |  |  |  |  |  |
Number of warrants outstanding (in shares) |  | 34,072 |  |  |  |  |  |  |  |
Series E |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Debt instrument, conversion price (in dollars per share) |  |  |  | $ 1,198 |  | $ 1,500 |  | $ 1,500 |  |
Preferred Tranche A Warrant |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Proceeds from exercise of warrants | $ 10,000 |  |  |  |  |  |  |  |  |
Avenue Loan |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Debt instrument, principal face amount |  |  |  | $ 20,000 |  |  |  |  |  |
Basis spread on variable interest rate |  |  |  | 7.70% |  |  |  |  |  |
Stated interest rate |  |  |  | 10.95% |  | 16.20% |  | 16.20% |  |
Initial tranche of loan |  |  |  | $ 15,000 |  |  |  |  |  |
Loan amount funded into restricted account |  |  |  | $ 4,000 |  |  |  |  |  |
Restricted cash |  |  | $ 4,000 |  |  |  |  |  |  |
Principal payments |  |  | $ 2,100 |  |  |  |  |  |  |
Debt instrument, incremental final payment, percentage |  |  | 4.25% |  |  |  |  |  |  |
Final payment |  |  | $ 200 |  |  |  |  |  |  |
Estimated minimum proceeds on issue of common stock for extension of due date of interest only interest payments |  | $ 10,000 |  |  |  |  |  |  |  |
Principal payments |  |  |  |  | $ 1,000 |  |  |  |  |
Loan outstanding |  |  |  |  |  | $ 2,500 |  | $ 2,500 |  |
Debt instrument, conversion price (in dollars per share) |  |  |  | $ 11.98 |  |  |  |  |  |
Amortization of debt discount |  |  |  |  |  | 200 | 200 | 400 | 400 |
Interest expense incurred |  |  |  |  |  | 100 | 300 | 400 | 800 |
Rosalind Notes |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Debt instrument, principal face amount |  |  |  |  |  | $ 2,000 |  | $ 2,000 |  |
Stated interest rate |  |  |  |  |  | 8.00% |  | 8.00% |  |
Interest expense incurred |  |  |  |  |  | $ 100 | $ 100 | $ 100 | $ 100 |

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