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Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  | 9 Months Ended |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Feb. 01, 2022 | Jan. 31, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Aug. 22, 2023 | Jan. 05, 2023 | Dec. 31, 2022 | Oct. 31, 2021 | Feb. 28, 2021 | Dec. 31, 2020
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Common stock, shares authorized (in shares) |  |  | 1,000,000,000 |  |  |  | 1,000,000,000 |  |  |
Common stock, par value (in dollars per share) |  |  | $ 0.0001 |  |  |  | $ 0.0001 |  |  |
Common stock, shares outstanding (in shares) |  |  | 128,555,644 |  |  |  | 103,153,337 |  |  |
Proceeds from sale of stock |  |  | $ 6,879 | $ 3,655 |  |  |  |  |  |
Stock repurchase program authorized shares |  |  |  |  |  | 5,000,000 |  |  |  |
Treasury stock (in shares) |  |  | 506,500 |  |  |  | 0 |  |  |
Aggregate repurchase price |  |  | $ 502 |  |  |  | $ 0 |  |  |
Number of warrants (in shares) |  |  | 3,443,844 |  |  |  | 6,632,561 |  |  |
Warrants |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Warrant, term (in years) |  |  |  |  |  |  |  |  |  | 3 years
Number of warrants (in shares) |  |  |  |  |  |  |  | 2,811,315 | 3,840,000 | 2,160,000
Exercise price per share (in dollars per share) |  |  |  |  |  |  |  | $ 1.4246 |  |
Warrants | Common Stock |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Exercise price per share (in dollars per share) |  |  |  |  |  |  |  |  | $ 2.25 | $ 4.00
At Market Issuance Sales Agreement |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Common stock, par value (in dollars per share) |  | $ 0.0001 |  |  |  |  |  |  |  |
Aggregate offering price |  | $ 100,000 |  |  |  |  |  |  |  |
Aggregate net proceeds received | $ 200 |  | $ 7,003 |  |  |  |  |  |  |
Number of shares sold (in shares) |  |  | 17,394,716 |  |  |  |  |  |  |
Transaction costs |  |  | $ 209 |  |  |  |  |  |  |
Common stock remaining to be issued, value |  |  | $ 88,500 |  |  |  |  |  |  |
Sale Agreement With Lincoln Park |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares sold (in shares) |  |  | 1,712,503 |  |  |  |  |  |  |
Transaction costs |  |  | $ 97 |  |  |  |  |  |  |
Common stock remaining to be issued, value |  |  | 29,900 |  |  |  |  |  |  |
Agreement term (in months) |  |  |  |  | 24 months |  |  |  |  |
Proceeds from sale of stock |  |  | $ 88 |  |  |  |  |  |  |
Floor price per share (in dollars per share) |  |  |  |  | $ 0.10 |  |  |  |  |
Sale Agreement With Lincoln Park | Maximum |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Value of common stock to be issued |  |  |  |  | $ 30,000 |  |  |  |  |
Number of shares issuable |  |  |  |  | 250,000 |  |  |  |  |
Value of shares to be issued per transaction |  |  |  |  | $ 1,000 |  |  |  |  |
Sale Agreement With Lincoln Park, Closing Sale Price Is Not Below $0.20 |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Closing sale price per share (in dollars per share) |  |  |  |  | $ 0.20 |  |  |  |  |
Sale Agreement With Lincoln Park, Closing Sale Price Is Not Below $0.20 | Maximum |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares issuable |  |  |  |  | 350,000 |  |  |  |  |
Sale Agreement With Lincoln Park, Closing Sale Price Is Not Below $0.30 |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Closing sale price per share (in dollars per share) |  |  |  |  | $ 0.30 |  |  |  |  |
Sale Agreement With Lincoln Park, Closing Sale Price Is Not Below $0.30 | Maximum |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares issuable |  |  |  |  | 450,000 |  |  |  |  |
Sale Agreement With Lincoln Park, Closing Sale Price Is Not Below $0.50 |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Closing sale price per share (in dollars per share) |  |  |  |  | $ 0.50 |  |  |  |  |
Sale Agreement With Lincoln Park, Closing Sale Price Is Not Below $0.50 | Maximum |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares issuable |  |  |  |  | 550,000 |  |  |  |  |
Sale Agreement With Lincoln Park, Closing Sale Price Is Not Below $0.75 |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Closing sale price per share (in dollars per share) |  |  |  |  | $ 0.75 |  |  |  |  |
Sale Agreement With Lincoln Park, Closing Sale Price Is Not Below $0.75 | Maximum |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares issuable |  |  |  |  | 650,000 |  |  |  |  |

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