Warrants - Summary of Warrants Outstanding (Details)	12 Months Ended
	Dec. 31, 2022 $ / shares shares
Class of Warrant or Right [Line Items]
Exercise price of warrants	$ 9.6875
Series E Redeemable Convertible Preferred Stock
Class of Warrant or Right [Line Items]
Warrant Issuance Date	2014-08
Shares of Common Stock Underlying Warrants | shares	159
Exercise price of warrants	$ 4,231.80
Expiration Date	2024
SVB Term Loan
Class of Warrant or Right [Line Items]
Warrant Issuance Date	2020-06
Shares of Common Stock Underlying Warrants | shares	3,574
Exercise price of warrants	$ 139.878
Expiration Date	2030
Common Stock Warrants
Class of Warrant or Right [Line Items]
Warrant Issuance Date	2016-03
Shares of Common Stock Underlying Warrants | shares	251
Exercise price of warrants	$ 496.80
Expiration Date	2026
Common Stock Tranche One
Class of Warrant or Right [Line Items]
Warrant Issuance Date	2018-03
Shares of Common Stock Underlying Warrants | shares	100
Exercise price of warrants	$ 1,391.40
Expiration Date	2028
Common Stock Tranche Two
Class of Warrant or Right [Line Items]
Warrant Issuance Date	2022-03
Shares of Common Stock Underlying Warrants | shares	270,415
Exercise price of warrants	$ 24.74
Expiration Date	2024
Common Stock Tranche Three
Class of Warrant or Right [Line Items]
Warrant Issuance Date	2022-03
Shares of Common Stock Underlying Warrants | shares	270,415
Exercise price of warrants	$ 24.74
Expiration Date	2027
Common Stock Tranche Four
Class of Warrant or Right [Line Items]
Warrant Issuance Date	2022-12
Shares of Common Stock Underlying Warrants | shares	1,290,322
Exercise price of warrants	$ 7.50
Expiration Date	2024
Common Stock Tranche Five
Class of Warrant or Right [Line Items]
Warrant Issuance Date	2022-12
Shares of Common Stock Underlying Warrants | shares	1,290,322
Exercise price of warrants	$ 7.50
Expiration Date	2027
Common Stock Tranche Six
Class of Warrant or Right [Line Items]
Warrant Issuance Date	2022-12
Shares of Common Stock Underlying Warrants | shares	38,709
Exercise price of warrants	$ 9.6875
Expiration Date	2027