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Equity - Additional Information (Details) |  |  |  |  |  |  | 1 Months Ended | 12 Months Ended
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Nov. 21, 2022 USD ($) $ / shares shares | Nov. 16, 2022 USD ($) $ / shares | Apr. 08, 2022 USD ($) $ / shares | Apr. 07, 2022 shares | Mar. 07, 2022 USD ($) shares | Dec. 30, 2021 USD ($) $ / shares shares | Nov. 30, 2021 USD ($) | Dec. 31, 2022 USD ($) Facility $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock, authorized | shares |  |  |  |  |  |  |  | 200,000,000 | 200,000,000
Common stock, par value | $ / shares |  |  |  |  |  |  |  | $ 0.001 | $ 0.001
Common stock, voting rights |  |  |  |  |  |  |  | The holder of each share of common stock is entitled to one vote per share. |
Dividends | $ |  |  |  |  |  |  |  | $ 0 | $ 0
Stock issuable per day, number of shares | $ |  |  |  |  |  |  |  | 56,235,000 | 15,679,000
Proceeds from the sale of common shares | $ |  |  |  |  |  |  |  | $ 59,538,000 | $ 16,343,000
Preferred stock, authorized | shares |  |  |  |  |  |  |  | 5,000,000 | 5,000,000
Preferred stock, par value | $ / shares |  |  |  |  |  |  |  | $ 0.001 | $ 0.001
Preferred stock, issued | shares |  |  |  |  |  |  |  | 0 | 0
Preferred stock, outstanding | shares |  |  |  |  |  |  |  | 0 | 0
Warrants, expires period |  |  |  |  |  |  |  | Feb. 23, 2028 |
Perceptive Term Loan |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrants, expires period | Nov. 21, 2032 |  |  |  |  |  |  |  |
Public offering price per share of common stock | $ / shares | $ 1.15 |  |  |  |  |  |  |  |
Initial warrants amount | $ | $ 2,900,000 |  |  |  |  |  |  |  |
Perceptive Term Loan | Expected Term |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrants expected term | 10 years |  |  |  |  |  |  |  |
Perceptive Term Loan | Volatility |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrants and rights outstanding, measurement input | 0.813 |  |  |  |  |  |  |  |
Perceptive Term Loan | Dividend Yield |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrants and rights outstanding, measurement input | 0 |  |  |  |  |  |  |  |
Perceptive Term Loan | Risk-Free Interest Rate |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrants and rights outstanding, measurement input | 0.0367 |  |  |  |  |  |  |  |
Perceptive Term Loan | Tranche A Loan |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrant, exercise price | $ / shares | $ 1.0648 |  |  |  |  |  |  |  |
Perceptive Term Loan | Tranche B Loan |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Additional warratns exercisable | shares | 1,000,000 |  |  |  |  |  |  |  |
Series G Preferred Stock | 2018 Notes |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrant issued to purchase shares | shares |  |  |  |  |  |  |  | 613,333 |
Warrant, exercise price | $ / shares |  |  |  |  |  |  |  | $ 0.75 |
Subscription Agreements |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Price per share | $ / shares | $ 1.15 |  | $ 1.79 |  |  |  |  |  |
Aggregate purchase price | $ | $ 270,000 |  | $ 11,700,000 |  |  |  |  |  |
Maximum |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Stock issuable per day, number of shares | $ |  |  |  |  |  |  | $ 50,000,000.0 |  |
Maximum | Perceptive Term Loan |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrant issued to purchase shares | shares | 5,000,000 |  |  |  |  |  |  |  |
Additional warratns exercisable | shares |  |  |  |  |  |  |  | 2,000,000 |
Equity Financing Programs |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Number of facility | Facility |  |  |  |  |  |  |  | 2 |
Shares of common stock issued and sold | shares |  |  |  |  |  | 3,756,994 |  | 3,886,893 |
Proceeds from the sale of common shares | $ |  |  |  |  |  | $ 16,300,000 |  | $ 7,300,000 |
Weighted Average Price Per Share | $ / shares |  |  |  |  |  |  |  | $ 1.87 |
Equity Financing Programs | At-The-Market Facility |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Line of Credit Facility, Remaining Borrowing Capacity | $ |  |  |  |  |  |  |  | $ 29,500,000 |
Equity Financing Programs | LPC Facility |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Line of Credit Facility, Remaining Borrowing Capacity | $ |  |  |  |  |  |  |  | 46,900,000 |
Equity Financing Programs | Lincoln Park |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock issuable, committed to purchase | $ |  |  |  |  | $ 600,000 |  |  |  |
Purchase agreement term |  |  |  |  | 36 months |  |  |  |
Stock issuable per day, number of shares | shares |  |  |  |  | 50,000 |  |  |  |
Shares issued or issuable, threshold limit description |  |  |  |  | Under applicable rules of the NASDAQ Capital Market, in no event may the Company issue or sell to Lincoln Park under the Purchase Agreement more than 19.99% of the shares of the Company’s common stock outstanding immediately prior to the execution of the Purchase Agreement (the Exchange Cap), unless (i) the Company obtains stockholder approval to issue shares of common stock in excess of the Exchange Cap or (ii) the average price of all applicable sales of common stock to Lincoln Park under the Purchase Agreement equals or exceeds $2.20 per share, such that issuances and sales of the common stock to Lincoln Park under the Purchase Agreement would be exempt from the Exchange Cap limitation under applicable NASDAQ rules. |  |  |  |
Maximum percentage of common stock allowed to purchase by counterparty |  |  |  |  | 9.99% |  |  |  |
Shares issued as commitment fee | shares |  |  |  |  | 184,275 |  |  |  |
Commitment shares issuable on conditional basis | shares |  |  |  |  | 61,425 |  |  |  |
Diligence expenses and legal fees | $ |  |  |  |  | $ 129,000 |  |  |  |
Adjustments to additional paid-in capital deferred offering costs | $ |  |  |  |  |  |  |  | 75,000 |
Deferred offering costs | $ |  |  |  |  | 729,000 |  |  | 654,000 |
Equity Financing Programs | Lincoln Park | Maximum |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock issuable, committed to purchase | $ |  |  |  |  | $ 50,000,000.0 |  |  |  |
Stock issuable per day, number of shares | shares |  |  |  |  | 100,000 |  |  |  |
Stock issuable per day, value | $ |  |  |  |  | $ 1,500,000 |  |  |  |
Shares issued as commitment fee, value | $ |  |  |  |  | $ 20,000,000.0 |  |  |  |
At-The-Market Offering |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Proceeds from the sale of common shares | $ |  |  |  |  |  | 15,700,000 |  |  |
Net proceeds from sale of common shares after deducting underwriting discounts and commissions and offering expenses | $ |  |  |  |  |  |  |  | $ 6,800,000 |
Underwriting discounts and commissions and offering expenses payable | $ |  |  |  |  |  | $ 700,000 |  |  |
Common stock price per share | $ / shares |  |  |  |  |  | $ 4.35 |  |  |
Public Offering |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock issued and sold | shares | 35,075,000 |  |  |  |  |  |  |  |
Shares purchased by underwriter | shares | 4,575,000 |  |  |  |  |  |  |  |
Proceeds from the sale of common shares | $ |  | $ 37,500,000 |  |  |  |  |  |  |
Common stock price per share | $ / shares |  | $ 1.15 |  |  |  |  |  |  |
Private Placements | Subscription Agreements |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock issued and sold | shares |  |  |  | 6,508,376 |  |  |  |  |
Private Placements | Subscription Agreements | Board of Directors |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock issued and sold | shares |  |  |  | 3,631,284 |  |  |  |  |
Private Placements | Subscription Agreements | Existing Shareholders |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock issued and sold | shares |  |  |  | 2,877,092 |  |  |  |  |
Private Placements | Subscription Agreements | Chief Executive Officer and Chief Financial Officer |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock issued and sold | shares | 235,056 |  |  |  |  |  |  |  |
IPO |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Warrant, exercise price | $ / shares |  |  |  |  |  |  |  | $ 4.46 |
Warrant issued to purchase shares | shares |  |  |  |  |  |  |  | 103,326 |

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