Loan and Security Agreement -Narrative (Details) - Term loan $ / shares in Units, $ in Millions			1 Months Ended	12 Months Ended
	Jan. 02, 2024 USD ($) $ / shares shares	Mar. 16, 2020 USD ($) $ / shares shares	Sep. 30, 2021 installment	Dec. 31, 2023 USD ($)	Nov. 10, 2022 USD ($) installment	Sep. 30, 2022 USD ($)
Loan and Security Agreement, Term loan
Loss Contingencies [Line Items]
Aggregate principal amount		$ 35.0			$ 5.0	$ 7.5
Percentage of principal amount of relevant term loan funded funded		3.50%
Interest rate, base percentage		4.75%
Interest rate, additional percentage added to base percentage		4.00%
Initial interest rate percentage		8.75%
Effective interest rate		12.50%
Option to add interest rate amount to outstanding principal balance in lieu of payment, percentage		1.00%
Interest expense				$ 1.2
Number of installments | installment			10
Prepaid premium percent						5.00%
Minimum liquidity floor						$ 5.0
Pursuant to liquidity covenant						$ 15.0
Debt instrument, additional aggregate principal payment, number of installments | installment					1
Debt instrument, covenant terms, trailing period					6 months
Outstanding balance, net of unamortized issuance costs and unaccreted discount				8.3
Unamortized issuance costs and unaccreted discount				0.4
Debt instrument, unamortized premium				$ 0.7
Loan and Security Agreement, Term loan | Subsequent event
Loss Contingencies [Line Items]
Aggregate principal amount	$ 8.0
Number of shares of common stock for which warrant is exercisable (in shares) | shares	191,096
Exercise price of warrant (in dollars per share) | $ / shares	$ 1.83
Interest rate, base percentage	7.50%
Interest rate, additional percentage added to base percentage	3.50%
Option to add interest rate amount to outstanding principal balance in lieu of payment, percentage	2.00%
Debt instrument, covenant terms, trailing period	6 months
Period for which company is entitled to make interest-only payments	30 months
Loan and Security Agreement, Term loan | Subsequent event | Maximum
Loss Contingencies [Line Items]
Period for which company is entitled to make interest-only payments	36 months
Term loan, first tranche
Loss Contingencies [Line Items]
Aggregate principal amount		$ 22.5
Net draw down proceeds		21.2
Closing costs		$ 1.3
Debt instrument, additional fee at maturity, percentage		4.375%
Debt instrument, additional fee at maturity, amount		$ 1.0
Number of shares of common stock for which warrant is exercisable (in shares) | shares		43,388
Exercise price of warrant (in dollars per share) | $ / shares		$ 18.15
Additional debt discount recognized		$ 0.5