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Equity - Additional Information (Details) |  |  |  |  |  |  |  | 1 Months Ended | 3 Months Ended | 12 Months Ended |  |
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Sep. 27, 2023 SubscriptionAgreement | Aug. 03, 2023 USD ($) Officer $ / shares shares | Nov. 21, 2022 USD ($) $ / shares shares | Nov. 16, 2022 USD ($) $ / shares shares | Apr. 08, 2022 USD ($) $ / shares | Apr. 07, 2022 shares | Mar. 07, 2022 USD ($) shares | Nov. 30, 2021 USD ($) | Dec. 31, 2023 USD ($) $ / shares shares | Sep. 30, 2023 USD ($) shares | Dec. 31, 2023 USD ($) Facility $ / shares shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 15, 2023 USD ($) | May 10, 2023 USD ($) $ / shares shares
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock, authorized |  |  |  |  |  |  |  |  | 200,000,000 |  | 200,000,000 | 200,000,000 |  |
Common stock, par value | $ / shares |  |  |  |  |  |  |  |  | $ 0.001 |  | $ 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 | $ |  |  |  |  |  |  |  |  |  |  | 28,003,000 | 56,235,000 |  |
Shares of common stock issued and sold |  |  |  |  |  |  |  |  | 7,520,371 |  |  |  |  |
Proceeds from the sale of common shares | $ |  |  |  |  |  |  |  |  |  |  | $ 28,126,000 | $ 59,538,000 |  |
Preferred stock, authorized |  |  |  |  |  |  |  |  | 5,000,000 |  | 5,000,000 | 5,000,000 |  |
Preferred stock, par value | $ / shares |  |  |  |  |  |  |  |  | $ 0.001 |  | $ 0.001 | $ 0.001 |  |
Preferred stock, issued |  |  |  |  |  |  |  |  | 0 |  | 0 | 0 |  |
Preferred stock, outstanding |  |  |  |  |  |  |  |  | 0 |  | 0 | 0 |  |
Warrants, expires period |  |  |  |  |  |  |  |  | Feb. 23, 2028 |  | Feb. 23, 2028 |  |  |
Number of subscription agreement for which final closing to be delayed | SubscriptionAgreement | 1 |  |  |  |  |  |  |  |  |  |  |  |  |
Perceptive Term Loan Facility |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrant, exercise price | $ / shares |  |  |  | $ 1.0648 |  |  |  |  |  |  |  |  |  |
Warrants, expires period |  |  | Nov. 21, 2032 |  |  |  |  |  |  |  |  |  |  |
Public offering price per share of common stock | $ / shares |  |  | $ 1.15 |  |  |  |  |  |  |  |  |  |  |
Initial warrants amount | $ |  |  | $ 2,900,000 | $ 2,900,000 |  |  |  |  |  |  |  |  |  |
Series G Preferred Stock | 2018 Notes |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrant issued to purchase 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 |  |  | 5,000,000 | 5,000,000 |  |  |  |  |  |  |  |  |  |
Tranche A Loan | Perceptive Term Loan Facility |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrant, exercise price | $ / shares |  |  | $ 1.0648 |  |  |  |  |  |  |  |  |  |  |
Tranche B Loan | Perceptive Term Loan Facility |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrant, exercise price | $ / shares |  |  |  | $ 1.0648 |  |  |  |  |  |  |  |  |  |
Warrants, expires period |  |  |  | Dec. 15, 2033 |  |  |  |  |  |  |  |  |  |
Additional warratns exercisable |  |  | 1,000,000 | 1,000,000 |  |  |  |  |  |  |  |  |  |
Tranche C Loan | Perceptive Term Loan Facility |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Additional warratns exercisable |  |  |  | 1,000,000 |  |  |  |  |  |  |  |  |  |
Equity Financing Programs |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of facility | Facility |  |  |  |  |  |  |  |  |  |  | 2 |  |  |
Proceeds from the sale of common shares | $ |  |  |  |  |  |  |  |  |  |  | $ 600,000 |  |  |
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 |  |  |  |  |  |  | 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 |  |  |  |  |  |  | 184,275 |  |  |  |  |  |  |
Commitment shares issuable on conditional basis |  |  |  |  |  |  | 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 |  | 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 |  |  |  |  |  |  | 100,000 |  |  |  |  |  |  |
Stock issuable per day, value | $ |  |  |  |  |  |  | $ 1,500,000 |  |  |  |  |  |  |
Shares issued as commitment fee, value | $ |  |  |  |  |  |  | $ 20,000,000 |  |  |  |  |  |  |
At-The-Market Offering |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net proceeds from sale of common shares after deducting underwriting discounts and commissions and offering expenses | $ |  |  |  |  |  |  |  |  |  |  | $ 600,000 |  |  |
Public Offering |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares of common stock issued and sold |  |  | 35,075,000 |  |  |  |  |  |  |  |  |  |  |
Shares purchased by underwriter |  |  | 4,575,000 |  |  |  |  |  |  |  |  |  |  |
Proceeds from the sale of common shares | $ |  |  |  | $ 37,500,000 |  |  |  |  |  |  |  |  |  |
Common stock price per share | $ / shares |  |  |  | $ 1.15 |  |  |  |  |  |  |  |  |  |
IPO |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrant, exercise price | $ / shares |  |  |  |  |  |  |  |  | $ 4.46 |  | $ 4.46 |  |  |
Warrant issued to purchase shares |  |  |  |  |  |  |  |  | 103,326 |  | 103,326 |  |  |
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] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares of common stock issued and sold |  |  |  |  |  |  |  |  |  | 9,454,927 |  |  |  |
Proceeds from the sale of common shares | $ |  |  |  |  |  |  |  |  | $ 12,200,000 | $ 15,300,000 |  |  |  |
Price per share | $ / shares |  | $ 1.62 | $ 1.15 |  | $ 1.79 |  |  |  |  |  |  |  |  |
Aggregate purchase price | $ |  | $ 27,500,000 | $ 270,000 |  | $ 11,700,000 |  |  |  |  |  |  |  |  |
Subscription Agreements | Private Placement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares of common stock issued and sold |  | 16,975,298 |  |  |  | 6,508,376 |  |  |  |  |  |  |  |
Number of officers | Officer |  | 16 |  |  |  |  |  |  |  |  |  |  |  |
Subscription Agreements | Private Placement | Board of Directors |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares of common stock issued and sold |  |  |  |  |  | 3,631,284 |  |  |  |  |  |  |  |
Subscription Agreements | Private Placement | Existing Shareholders |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares of common stock issued and sold |  |  |  |  |  | 2,877,092 |  |  |  |  |  |  |  |
Subscription Agreements | Private Placement | Chief Executive Officer and Chief Financial Officer |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares of common stock issued and sold |  |  | 235,056 |  |  |  |  |  |  |  |  |  |  |
ATM Facility | Equity Financing Programs |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares of common stock issued and sold |  |  |  |  |  |  |  |  |  |  | 376,456 |  |  |
Weighted Average Price Per Share | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 1.66 |  |  |
Line of Credit Facility, Remaining Borrowing Capacity | $ |  |  |  |  |  |  |  |  | 28,900,000 |  | $ 28,900,000 |  |  |
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 |  |  |  |  |  |  |  |  |  |  |  |  |  | 500,000
Warrant, exercise price | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1.6254
Warrants, expires period |  |  |  |  |  |  |  |  |  |  |  |  |  | May 10, 2033
Initial warrants amount | $ |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 700,000
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
Tranche B Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants, expires period |  |  |  |  |  |  |  |  |  |  |  |  | Dec. 15, 2033 |
Initial warrants amount | $ |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,300,000 |
Tranche B Warrants | Expected Term |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants expected term |  |  |  |  |  |  |  |  |  |  |  |  | 10 years |
Tranche B Warrants | Volatility |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants and rights outstanding, measurement input |  |  |  |  |  |  |  |  |  |  |  |  | 76.2 |
Tranche B Warrants | Dividend Yield |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants and rights outstanding, measurement input |  |  |  |  |  |  |  |  |  |  |  |  | 0 |
Tranche B Warrants | Risk-Free Interest Rate |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants and rights outstanding, measurement input |  |  |  |  |  |  |  |  |  |  |  |  | 3.91 |

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