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Loans and Convertible Notes Payable - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Aug. 14, 2023
Mar. 31, 2023
Mar. 15, 2023
Aug. 06, 2021
Jan. 31, 2024
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Dec. 31, 2023
Aug. 01, 2024
Debt Instrument [Line Items]                      
Restricted cash           $ 0 $ 50 $ 0 $ 50    
Principal payments               8,610 6,313    
Final payment                   $ 500  
Proceeds from exercise of warrants               $ 259 35,004    
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%
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            
Amortization of debt discount           $ 100 200 $ 500 600    
Interest expense incurred           100 300 400 1,100    
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