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Debt - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands				3 Months Ended
	Aug. 04, 2023	Nov. 21, 2022	Nov. 16, 2022	Mar. 31, 2024	Dec. 15, 2023	May 10, 2023
Debt Instrument [Line Items]
Proceeds from the issuance of common stock				$ 625
Amount withdrawn				$ 40,065
First Amendment
Debt Instrument [Line Items]
Warrant issued to purchase shares						500,000
Warrant, exercise price						$ 1.6254
Initial warrants amount						$ 700
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
Interest rate			3.00%
Applicable margin rate			9.00%
Effective interest rate				14.30%
Warrant, exercise price			$ 1.0648
Public offering price per share of common stock		$ 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]
Warrant, exercise price			$ 1.0648
Additional warratns exercisable			1,000,000
Amount withdrawn					$ 10,000
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]
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
Second Amendment | Tranche B Loan
Debt Instrument [Line Items]
Gross proceeds from sale of common shares	$ 27,500
Amount withdrawn					$ 10,000

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