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Liquidity and Going Concern - Additional Information (Details)
 3 Months Ended 9 Months Ended
Apr. 27, 2023
Apr. 21, 2023
Apr. 20, 2023
Nov. 22, 2022
May 24, 2022
$ / shares
Mar. 29, 2020
Mar. 28, 2020
May 29, 2015
USD ($)
Sep. 30, 2023
USD ($)
Jun. 30, 2023
USD ($)
Mar. 31, 2023
USD ($)
Sep. 30, 2022
USD ($)
Jun. 30, 2022
USD ($)
Mar. 31, 2022
USD ($)
Sep. 30, 2023
USD ($)
Sep. 30, 2022
USD ($)
Dec. 31, 2022
USD ($)
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                                  
Net loss                 $ (3,219,000) $ (1,482,000) $ (4,805,000) $ (5,219,000) $ (5,282,000) $ (4,116,000) $ (9,506,000) $ (14,617,000)  
Accumulated deficit                 (476,691,000)           (476,691,000)   $ (467,185,000)
Net cash used in operating activities                             (10,970,000) $ (10,738,000)  
Closing bid price for common stock had fallen below | $ / shares         $ 1                        
Consecutive business days         30 days                        
Period for regain compliance       180 days                          
Regain compliance expiry date       May 22, 2023                          
Stock split conversion ratio 0.06 0.06                              
Reverse stock split effective date May 01, 2023                                
Reverse stock split one-for-fifteen                                
Term Loan [Member]                                  
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                                  
Principal and final payment loan amount               $ 17,700,000 4,400,000           $ 4,400,000    
Maturity date           Jun. 01, 2024 Sep. 01, 2021 May 01, 2021             Jun. 01, 2024    
Maximum [Member]                                  
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                                  
Stock split conversion ratio     0.06                            
Reverse stock split     one-for-fifteen                            
Maximum [Member] | Term Loan [Member]                                  
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                                  
Principal and final payment loan amount                 $ 3,000,000.0           $ 3,000,000.0    
Minimum [Member]                                  
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                                  
Stock split conversion ratio     0.33                            
Reverse stock split     one-for-three