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Stock-Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Mar. 06, 2023
Feb. 28, 2023
Feb. 20, 2023
Jan. 05, 2023
Dec. 30, 2022
Nov. 19, 2022
Sep. 02, 2022
Apr. 15, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Shares authorized (in shares) 10,174,421                  
Expiration period (in years) 10 years                  
Shares reserved for future award (in shares) 1,739,449                  
Share-based compensation expense $ 0.7 $ 2.9                
Acuitas Capital, LLC | Keep Well Agreement | Affiliated Entity                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Available borrowing capacity $ 6.0   $ 4.0     $ 4.0 $ 14.0 $ 10.7    
Warrants (in shares)     8,888,889   1,775,148 473,373     1,301,775  
Exercise price of warrants (in dollars per share)     $ 0.45 $ 0.45 $ 0.45 $ 1.69     $ 1.69  
Term of warrants       5 years     5 years   5 years  
Acuitas Capital, LLC | Keep Well Agreement | Affiliated Entity | Exchange Warrants                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Warrants (in shares)       33,333,333            
Stock options and RSUs                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Stock options and RSUs outstanding (in shares) 7,029,479                  
Employee | Employee                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Unrecognized compensation costs $ 2.6                  
Unrecognized compensation costs, recognition period (in years) 2 years 5 months 1 day                  
Employees, Directors and Consultants                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Unrecognized compensation costs $ 3.3                  
Unrecognized compensation costs, recognition period (in years) 2 years 5 months 8 days                  
Minimum                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period (in years) 1 year                  
Minimum | Acuitas Capital, LLC | Keep Well Agreement | Affiliated Entity                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Exercise price of warrants (in dollars per share)                   $ 1.69
Minimum | Restricted Stock Units (RSUs)                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period (in years) 3 years                  
Maximum                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period (in years) 4 years                  
Maximum | Restricted Stock Units (RSUs)                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period (in years) 5 years