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Equity - Additional Information (Details)
 1 Months Ended 12 Months Ended
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