Long-term Debt, Senior Term Facility (Details) $ / shares in Units, $ in Thousands	1 Months Ended	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2023 USD ($) $ / shares	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($) Payment $ / shares shares	Sep. 30, 2022 USD ($)
Long-term Debt [Abstract]
Loss on debt extinguishment				$ (909)	$ 0
Unamortized debt discount		$ 434		434
Exit fee		450		450
SOFR [Member]
Long-term Debt [Abstract]
Term of variable rate	1 month
Interest rate floor	0.50%
Basis spread on variable rate	0.10%
MidCap Financial Trust [Member] | Senior Term Facility [Member]
Long-term Debt [Abstract]
Face amount of debt		8,000		$ 8,000
Maturity date				Sep. 01, 2026
Frequency of payment				monthly
Number of monthly principal payments plus interest | Payment				24
Notice period				30 days
Prepayment fee if prepayment is made within twelve months				4.00%
Prepayment fee if prepayment is made between twelve months and twenty-four months				3.00%
Prepayment fee if prepayment is made between twenty-four months and thirty-six months				2.00%
Prepayment fee if prepayment is made after thirty-six months				1.00%
Minimum net revenue threshold				$ 33,000
Minimum net revenue threshold by December 31, 2025				40,000
Minimum net revenue threshold by trailing 12-month period				40,000
Minimum unrestricted cash		3,000		3,000
Loss on debt extinguishment				(909)
Unamortized debt discount		441		441
Increase in fair value of warrants				384
Lender fees		84		84
Interest expense		528	$ 244	1,112	651
Amortization of debt discount		$ 29	$ 40	112	$ 116
MidCap Financial Trust [Member] | Senior Term Facility [Member] | Minimum [Member]
Long-term Debt [Abstract]
Prepayment of debt				$ 5,000
MidCap Financial Trust [Member] | Senior Term Facility [Member] | A&R Warrant [Member]
Long-term Debt [Abstract]
Warrants issued (in shares) | shares				800,000
Warrants, exercise price (in dollars per share) | $ / shares		$ 0.88		$ 0.88
Warrants, expected term		10 years		10 years
MidCap Financial Trust [Member] | Senior Term Facility [Member] | Common Stock [Member]
Long-term Debt [Abstract]
Warrants issued (in shares) | shares				373,626
Warrants, exercise price (in dollars per share) | $ / shares		$ 1.82		$ 1.82
Warrants, expected term		10 years		10 years
MidCap Financial Trust [Member] | Senior Term Facility [Member] | LIBOR [Member]
Long-term Debt [Abstract]
Interest rate floor				0.50%
Basis spread on variable rate				7.50%
MidCap Financial Trust [Member] | Senior Term Facility, Amendment [Member]
Long-term Debt [Abstract]
Face amount of debt		$ 20,000		$ 20,000
Forward looking term				30 days
Interest rate floor				3.50%
Amount available to be drawn under condition		$ 30,000		$ 30,000
Effective interest rate		13.67%		13.67%
Required percentage of certain insurance proceeds				100.00%
Unamortized debt discount		$ 434		$ 434
Exit fee		450		450
Third party costs incurred		13		$ 13
MidCap Financial Trust [Member] | Senior Term Facility, Amendment [Member] | SOFR [Member]
Long-term Debt [Abstract]
Term of variable rate				1 month
Base interest rate				0.10%
Basis spread on variable rate				7.50%
MidCap Financial Trust [Member] | Credit Facility #1 [Member]
Long-term Debt [Abstract]
Amount drawn				$ 8,000
MidCap Financial Trust [Member] | Credit Facility #2 [Member]
Long-term Debt [Abstract]
Amount drawn				$ 7,000
Percentage of administrative agent fess				0.50%
Percentage of credit extension				3.00%
MidCap Financial Trust [Member] | Credit Facility #3 [Member]
Long-term Debt [Abstract]
Amount available for amount drawn		$ 5,000		$ 5,000
Percentage of credit extension				0.50%
Percentage of exit fee				3.00%