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Equity - Additional Information (Details)
 1 Months Ended 3 Months Ended 12 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
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