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Debt (Details) - USD ($) |  | 3 Months Ended | 9 Months Ended |  |  |  |  |  |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Apr. 21, 2020 | Sep. 30, 2021 | Jun. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Oct. 07, 2021 | Mar. 31, 2021 | Mar. 22, 2021 | Dec. 31, 2020 | May 03, 2020 | Dec. 31, 2019 | Sep. 06, 2018 | Jan. 18, 2018 | May 02, 2017 | May 03, 2016 | Aug. 21, 2015
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Interest expense |  | $ 0 |  | $ 14,000 | $ 0 | $ 28,000 |  |  |  |  |  |  |  |  |  |  |
Financing fees incurred |  |  |  |  |  |  |  |  |  |  |  | $ 64,000 |  |  |  |  |
Loan received under Paycheck Protection Program | $ 22,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible debt | 2015 Notes |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Face amount |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,000,000
Interest rate |  | 8.00% |  |  | 8.00% |  |  |  |  |  |  |  |  |  |  |  |
Conversion price, percent of per share price |  | 70.00% |  |  | 70.00% |  |  |  |  |  |  |  |  |  |  |  |
Debt discount |  | $ 669,000 |  |  | $ 669,000 |  |  |  |  |  |  |  |  |  |  |  |
Long-term debt |  | 4,929,000 |  |  | 4,929,000 |  |  |  |  | $ 3,369,000 |  |  |  |  |  |  |
Accrued interest |  | 1,159,000 |  |  | 1,159,000 |  |  |  |  | $ 926,000 |  |  |  |  |  |  |
Convertible debt | 2015 Notes | Amendment Number One |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Face amount |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 2,000,000 |
Convertible debt | 2015 Notes | Amendment Number Two |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Face amount |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 2,500,000 |  |
Convertible debt | 2015 Notes | Amendment Number Three |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Face amount |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 3,500,000 |  |  |
Convertible debt | 2015 Notes | Amendment Number Four |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Face amount |  |  |  |  |  |  |  |  |  |  |  |  | $ 4,500,000 |  |  |  |
Convertible debt | 2015 Notes | Amendment Number Five |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Face amount |  |  |  |  |  |  |  |  |  |  | $ 5,000,000 |  |  |  |  |  |
Convertible debt | 2015 Notes | Amendment Number Seven | Subsequent Event |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Face amount |  |  |  |  |  |  | $ 5,500,000 |  |  |  |  |  |  |  |  |  |
Convertible debt | Qualified Financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-settled debt discount |  |  | 30.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |
Event occurrence less than likely probability, percent |  |  |  |  |  |  |  | 50.00% |  |  |  |  |  |  |  |  |
Event occurrence more than likely probability, percent |  |  | 50.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt discount |  | 1,856,000 |  |  | 1,856,000 |  |  |  |  |  |  |  |  |  |  |  |
Accreted interest expense |  | $ 656,000 |  |  | $ 1,187,000 |  |  |  |  |  |  |  |  |  |  |  |
Convertible debt | Qualified Financing | Amendment Number Six |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Face amount |  |  |  |  |  |  |  |  | $ 2,000,000 |  |  |  |  |  |  |  |

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