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Related Party Transactions - 2019 Debt Financings (Details) $ in Thousands |  |  |  |  | 1 Months Ended | 3 Months Ended | 6 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Dec. 18, 2022 USD ($) | Dec. 12, 2022 USD ($) | Nov. 01, 2022 USD ($) | Jun. 19, 2022 USD ($) | Apr. 30, 2023 | Dec. 31, 2019 USD ($) item | Jun. 30, 2023 USD ($) | Jun. 30, 2022 USD ($) | Jun. 30, 2023 USD ($) item | Jun. 30, 2022 USD ($) | Dec. 31, 2022 USD ($) item | Dec. 31, 2021 USD ($) | Jul. 22, 2022 USD ($) | Jun. 30, 2019 USD ($)
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage Of Shares Holders Receive Via Previous Warrant Agreement |  |  |  |  | 85.00% |  |  |  |  |  |  |  |  |
Debt extinguishment due to warrant modification |  |  |  |  |  |  | $ 17,036 |  | $ 17,000 |  |  |  |  |
Additional Paid-in Capital |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt extinguishment due to warrant modification |  |  |  |  |  |  | 17,036 |  | 17,000 |  |  |  |  |
Convertible Notes 2019 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage of repayment of principal amount |  |  |  |  |  | 175.00% |  |  |  |  |  |  |  |
Percentage of Convertible Notes automatically convert into number of shares of Company's common stock, of principal amount |  |  |  |  |  | 175.00% |  |  |  |  |  |  |  |
Income (expense) related to decrease (increase) in fair value |  |  |  |  |  |  | (100) | $ (2,000) | (700) | $ (100) | $ (1,700) | $ 100 |  |
Percentage Of Shares Holders Receive Via Previous Warrant Agreement |  |  |  |  | 85.00% |  |  |  |  |  |  |  |  |
Debt extinguishment due to warrant modification |  |  |  |  |  |  | 5,200 |  | 5,200 |  |  |  |  |
Principal amount outstanding |  |  |  |  |  |  | 6,000 |  | 6,000 |  | 6,000 | 10,000 |  |
Estimated fair value of convertible notes |  |  |  |  |  |  | 8,700 |  | 8,700 |  | $ 13,300 | $ 15,600 |  |
Convertible Notes 2019 | Additional Paid-in Capital |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt extinguishment due to warrant modification |  |  |  |  |  |  | 5,200 |  | $ 5,200 |  |  |  |  |
Additional promissory note |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  | $ 5,000 |  |  |  |  |  |  |  | $ 5,000
Number of additional convertible promissory notes sold | item |  |  |  |  |  | 5 |  |  |  |  |  |  |  |
Additional promissory note | Board of directors | Convertible Notes 2019 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  | $ 1,000 |  |  |  |  |  |  |  |
Number of additional convertible promissory notes sold | item |  |  |  |  |  | 1 |  |  |  |  |  |  |  |
Convertible note |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Contingent warrants exercised by Company's stockholders to reduce Company's convertible note obligations | item |  |  |  |  |  |  |  |  | 0 |  | 0 |  |  |
Interest rate (as a percent) |  |  |  |  |  |  |  |  |  |  | 10.00% |  | 0.00% |
Convertible note | Simhambhatla |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,000 |
Repayable amount |  | $ 1,700 | $ 1,000 |  |  |  |  |  |  |  |  |  |  |
Percentage of repayment of principal amount |  | 175.00% |  |  |  |  |  |  |  |  |  |  |  |
Principal amount outstanding |  | $ 700 | 700 |  |  |  |  |  |  |  |  |  | 700 |
Additional amount repayable to the principal amount | $ 700 |  | 700 |  |  |  |  |  |  |  |  |  |  |
Repayment of notes |  |  | $ 1,000 |  |  |  |  |  |  |  |  |  |  |
Convertible note | Jaywin |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  |  |  |  |  |  |  |  | 1,000 |
Repayable amount |  | $ 1,700 |  |  |  |  |  |  |  |  |  |  |  |
Percentage of repayment of principal amount |  | 175.00% | 175.00% |  |  |  |  |  |  |  |  |  |  |
Principal amount outstanding |  | $ 700 |  |  |  |  |  |  |  |  |  |  | 700 |
Additional amount repayable to the principal amount |  | 700 |  |  |  |  |  |  |  |  |  |  |  |
Repayment of notes |  | 1,000 |  |  |  |  |  |  |  |  |  |  |  |
Convertible note | Willis |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  |  |  |  |  |  |  |  | 1,000 |
Repayable amount |  | $ 1,700 |  |  |  |  |  |  |  |  |  |  |  |
Percentage of repayment of principal amount |  | 175.00% |  |  |  |  |  |  |  |  |  |  |  |
Principal amount outstanding |  | $ 700 |  |  |  |  |  |  |  |  |  |  | 700 |
Additional amount repayable to the principal amount |  | 700 |  |  |  |  |  |  |  |  |  |  |  |
Repayment of notes |  | 1,000 |  |  |  |  |  |  |  |  |  |  |  |
Convertible note | Malik |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  |  |  |  |  |  |  |  | 1,000 |
Repayable amount | $ 1,700 | $ 1,700 |  |  |  |  |  |  |  |  |  |  |  |
Percentage of repayment of principal amount | 175.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount outstanding | $ 700 |  |  |  |  |  |  |  |  |  |  |  | 700 |
Additional amount repayable to the principal amount | 700 |  |  |  |  |  |  |  |  |  |  |  |  |
Repayment of notes | $ 1,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Dental Innovations | Additional promissory note | Convertible Notes 2019 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage of repayment of principal amount | 175.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Dental Innovations | Original 2019 Note Purchase Agreement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  |  |  |  |  |  |  |  | 5,000 | 5,000
Repayable amount |  |  |  | $ 8,700 |  |  |  |  |  |  |  |  | $ 8,700 | 8,750
Percentage of repayment of principal amount |  |  |  | 175.00% |  |  |  |  |  |  |  |  |  |
Additional amount repayable to the principal amount |  |  |  | $ 3,700 |  |  |  |  |  |  |  |  |  |
Interest rate (as a percent) |  |  |  | 0.00% |  |  |  |  |  |  |  |  | 15.79% |
Dental Innovations | Original 2019 Note Purchase Agreement | Additional promissory note |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  | $ 5,000 |  |  |  |  |  |  |  | $ 5,000
Dental Innovations | Original 2019 Note Purchase Agreement | Convertible note |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount of convertible promissory note |  |  |  |  |  | 5,000 |  |  |  |  |  |  |  |
Strathspey Crown Holdings Group, LLC ("SCH") | Additional promissory note | Convertible Notes 2019 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Related Party Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount | $ 1,700 |  |  |  |  | $ 1,000 | $ 1,700 |  | $ 1,700 |  |  |  | $ 1,000 |
Number of additional convertible promissory notes sold | item |  |  |  |  |  | 1 |  |  |  |  |  |  |  |
Interest rate (as a percent) | 0.00% |  |  |  |  |  | 15.79% |  | 15.79% |  |  |  |  |

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