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Debt - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Nov. 21, 2022
Nov. 16, 2022
Mar. 31, 2022
Mar. 31, 2023
Debt Instrument [Line Items]        
Proceeds from the issuance of common stock     $ 1,599  
2018 Notes | Series G Preferred Stock        
Debt Instrument [Line Items]        
Warrant issued to purchase shares       613,333
Warrant, exercise price       $ 0.75
Perceptive Term Loan Facility        
Debt Instrument [Line Items]        
Debt instrument maturity date   Nov. 21, 2027    
Proceeds from the issuance of common stock $ 40,600      
Interest rate   3.00%    
Applicable margin rate   9.00%    
Effective interest rate       13.80%
Warrant, exercise price   $ 1.0648    
Public offering price per share of common stock $ 1.15 $ 1.15    
Minimum cash balance at maturity date   $ 2,500    
Initial warrants amount $ 2,900 2,900    
Additional warrants amount   100    
Debt instrument, discount   5,200    
Perceptive Term Loan Facility | Tranche A Loan        
Debt Instrument [Line Items]        
Net proceeds from debt, after deducting debt issuance costs and expenses   $ 27,900    
Warrant, exercise price $ 1.0648      
Perceptive Term Loan Facility | Tranche B Loan        
Debt Instrument [Line Items]        
Additional warratns exercisable 1,000,000 1,000,000    
Perceptive Term Loan Facility | Tranche C Loan        
Debt Instrument [Line Items]        
Additional warratns exercisable   1,000,000    
Perceptive Term Loan Facility | Minimum        
Debt Instrument [Line Items]        
Gross proceeds from sale of common shares   $ 30,000    
Prepayment premium percentage of aggregate outstanding principal amount   2.00%    
Perceptive Term Loan Facility | Maximum        
Debt Instrument [Line Items]        
Debt instrument, aggregate principal amount   $ 50,000    
Prepayment premium percentage of aggregate outstanding principal amount   10.00%    
Warrant issued to purchase shares 5,000,000 5,000,000    
Perceptive Term Loan Facility | Maximum | Tranche A Loan        
Debt Instrument [Line Items]        
Debt instrument, aggregate principal amount $ 30,000      
Perceptive Term Loan Facility | Maximum | Tranche B Loan        
Debt Instrument [Line Items]        
Debt instrument, aggregate principal amount 10,000      
Perceptive Term Loan Facility | Maximum | Tranche C Loan        
Debt Instrument [Line Items]        
Debt instrument, aggregate principal amount $ 10,000