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Equity - Additional Information (Details)
 1 Months Ended 3 Months Ended 9 Months Ended
Sep. 27, 2023
SubscriptionAgreement
Aug. 03, 2023
USD ($)
Officer
$ / shares
shares
Nov. 21, 2022
USD ($)
$ / shares
shares
Nov. 16, 2022
USD ($)
$ / shares
shares
Mar. 07, 2022
USD ($)
shares
Nov. 30, 2021
USD ($)
Dec. 31, 2023
USD ($)
shares
Sep. 30, 2023
USD ($)
$ / shares
shares
Mar. 31, 2023
USD ($)
Sep. 30, 2022
USD ($)
Jun. 30, 2022
USD ($)
Mar. 31, 2022
USD ($)
Sep. 30, 2023
USD ($)
Facility
$ / shares
shares
Sep. 30, 2022
USD ($)
May 10, 2023
USD ($)
$ / shares
shares
Class of Stock [Line Items]                              
Proceeds from the sale of common shares                         $ 15,316,000 $ 17,966,000  
Stock issuable per day, number of shares               $ 15,316,000 $ (61,000) $ 1,745,000 $ 14,329,000 $ 1,417,000      
Warrants, expires period               Feb. 23, 2028         Feb. 23, 2028    
Scenario Forecast                              
Class of Stock [Line Items]                              
Issuance of common stock, net, Shares | shares             7,520,371                
Perceptive Term Loan Facility                              
Class of Stock [Line Items]                              
Proceeds from the sale of common shares     $ 40,600,000                        
Public offering price per share of common stock | $ / shares     $ 1.15 $ 1.15                      
Initial warrants amount     $ 2,900,000 $ 2,900,000                      
Warrants, expires period     Nov. 21, 2032                        
Warrant, exercise price | $ / shares       $ 1.0648                      
Series G Preferred Stock | 2018 Notes                              
Class of Stock [Line Items]                              
Warrant issued to purchase shares | shares               613,333         613,333    
Warrant, exercise price | $ / shares               $ 0.75         $ 0.75    
Maximum                              
Class of Stock [Line Items]                              
Stock issuable per day, number of shares           $ 50,000,000                  
Maximum | Perceptive Term Loan Facility                              
Class of Stock [Line Items]                              
Warrant issued to purchase shares | shares     5,000,000 5,000,000                      
Tranche A Loan | Perceptive Term Loan Facility                              
Class of Stock [Line Items]                              
Warrant, exercise price | $ / shares     $ 1.0648                        
Equity Financing Programs                              
Class of Stock [Line Items]                              
Number of facility | Facility                         2    
Equity Financing Programs | Lincoln Park                              
Class of Stock [Line Items]                              
Common stock issuable, committed to purchase         $ 600,000                    
Diligence expenses and legal fees         $ 129,000                    
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 Global 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                    
Adjustments to additional paid-in capital deferred offering costs               $ 0   $ 33,000     $ 0 $ 51,000  
Deferred offering costs         $ 729,000     $ 654,000         $ 654,000    
Equity Financing Programs | Lincoln Park | Maximum                              
Class of Stock [Line Items]                              
Common stock issuable, committed to purchase         $ 50,000,000                    
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                    
IPO                              
Class of Stock [Line Items]                              
Warrant issued to purchase shares | shares               103,326         103,326    
Warrant, exercise price | $ / shares               $ 4.46         $ 4.46    
Expected Term | Perceptive Term Loan Facility                              
Class of Stock [Line Items]                              
Warrants expected term     10 years                        
Volatility | Perceptive Term Loan Facility                              
Class of Stock [Line Items]                              
Warrants and rights outstanding, measurement input     81.3                        
Dividend Yield | Perceptive Term Loan Facility                              
Class of Stock [Line Items]                              
Warrants and rights outstanding, measurement input     0                        
Risk-Free Interest Rate | Perceptive Term Loan Facility                              
Class of Stock [Line Items]                              
Warrants and rights outstanding, measurement input     3.67                        
Subscription Agreements                              
Class of Stock [Line Items]                              
Proceeds from the sale of common shares               $ 15,300,000              
Issuance of common stock, net, Shares | shares               9,454,927              
Number of subscription agreement for which final closing to be delayed | SubscriptionAgreement 1                            
Price per share | $ / shares   $ 1.62                          
Aggregate purchase price   $ 27,500,000                          
Subscription Agreements | Scenario Forecast                              
Class of Stock [Line Items]                              
Proceeds from the sale of common shares             $ 12,200,000                
Subscription Agreements | Private Placement                              
Class of Stock [Line Items]                              
Issuance of common stock, net, Shares | shares   16,975,298                          
Number of officers | Officer   16                          
ATM Facility | Equity Financing Programs                              
Class of Stock [Line Items]                              
Line of Credit Facility, Remaining Borrowing Capacity               $ 29,500,000         $ 29,500,000    
LPC Facility | Equity Financing Programs                              
Class of Stock [Line Items]                              
Line of Credit Facility, Remaining Borrowing Capacity               $ 46,900,000         $ 46,900,000    
First Amendment [Member]                              
Class of Stock [Line Items]                              
Warrant issued to purchase shares | shares                             500,000
Initial warrants amount                             $ 700,000
Warrants, expires period                             May 10, 2033
Warrant, exercise price | $ / shares                             $ 1.6254
First Amendment [Member] | Expected Term                              
Class of Stock [Line Items]                              
Warrants expected term                             10 years
First Amendment [Member] | Volatility                              
Class of Stock [Line Items]                              
Warrants and rights outstanding, measurement input                             78.7
First Amendment [Member] | Dividend Yield                              
Class of Stock [Line Items]                              
Warrants and rights outstanding, measurement input                             0
First Amendment [Member] | Risk-Free Interest Rate                              
Class of Stock [Line Items]                              
Warrants and rights outstanding, measurement input                             3.49