Restatement of Previously Issued Consolidated Financial Statements - Consolidated Statements of Stockholder's Equity (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended	9 Months Ended	12 Months Ended
Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2023	Dec. 31, 2022
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ 59,242	$ 64,901	$ 73,981	$ 106,483	$ 125,515	$ 91,200	$ 73,981	$ 91,200	$ 73,981	$ 91,200	$ 73,981	$ 91,200
Common stock, beginning balance (in shares)			221,599,682				221,599,682		221,599,682		221,599,682
Stock-based compensation expense	2,174	2,632	$ 2,689	2,495	2,079	3,299					$ 9,217	10,541
Issuance of common stock for stock option exercises and restricted stock unit vesting, net	97	10	(1)	602	361	180					124	1,262
Issuance of common stock for capital raises, net		14,767	5,559			49,851					20,326	$ 57,756
Series A convertible preferred stock conversion (in shares)												3,115
Other comprehensive income (loss)	5	(3)	(1)	20	10						(6)	$ 26
Net loss	(11,717)	(23,065)	(17,326)	(23,913)	(21,482)	(19,015)	$ (40,391)	(40,497)	$ (52,108)	(64,410)	(63,078)	(86,804)
Ending balance	$ 49,801	$ 59,242	$ 64,901	$ 85,687	$ 106,483	$ 125,515	$ 59,242	$ 106,483	$ 49,801	$ 85,687	$ 40,564	$ 73,981
Common stock, ending balance (in shares)											256,566,804	221,599,682
Series A Convertible Preferred Stock
Increase (Decrease) in Stockholders' Equity
Convertible preferred stock, beginning balance (in shares)			0				0		0		0
Convertible preferred stock, ending balance (in shares)											0	0
Series B Convertible Preferred Stock
Increase (Decrease) in Stockholders' Equity
Convertible preferred stock, beginning balance (in shares)			54,745				54,745		54,745		54,745
Convertible preferred stock, ending balance (in shares)											54,745	54,745
Preferred Stock \| Series A Convertible Preferred Stock
Increase (Decrease) in Stockholders' Equity
Convertible preferred stock, beginning balance (in shares)	0	0	0	0	7	7	0	7	0	7	0	7
Beginning balance	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0
Series A convertible preferred stock conversion (in shares)					(7)							(7)
Convertible preferred stock, ending balance (in shares)	0	0	0	0	0	7	0	0	0	0	0	0
Ending balance	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0
Preferred Stock \| Series B Convertible Preferred Stock
Increase (Decrease) in Stockholders' Equity
Convertible preferred stock, beginning balance (in shares)	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745
Beginning balance	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1
Convertible preferred stock, ending balance (in shares)	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745
Ending balance	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1
Common Stock
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ 2,566	$ 2,265	$ 2,217	$ 2,163	$ 2,158	$ 1,995	$ 2,217	$ 1,995	$ 2,217	$ 1,995	$ 2,217	$ 1,995
Common stock, beginning balance (in shares)	256,608,552	226,548,693	221,721,182	216,271,262	215,752,926	199,502,183	221,721,182	199,502,183	221,721,182	199,502,183	221,721,182	199,502,183
Issuance of common stock for stock option exercises and restricted stock unit vesting, net (in shares)	12,935	59,859	348,555	538,675	515,221	277,323					488,166	1,579,886
Issuance of common stock for stock option exercises and restricted stock unit vesting, net		$ 1	$ 3	$ 5	$ 5	$ 3					$ 5	$ 16
Issuance of common stock for capital raises, net (in shares)		30,000,000	4,478,956			15,973,420					34,478,956	20,635,998
Issuance of common stock for capital raises, net		$ 300	$ 45			$ 160					$ 345	$ 206
Series A convertible preferred stock conversion (in shares)					3,115
Ending balance	$ 2,566	$ 2,566	$ 2,265	$ 2,168	$ 2,163	$ 2,158	$ 2,566	$ 2,163	$ 2,566	$ 2,168	$ 2,567	$ 2,217
Common stock, ending balance (in shares)	256,621,487	256,608,552	226,548,693	216,809,937	216,271,262	215,752,926	256,608,552	216,271,262	256,621,487	216,809,937	256,688,304	221,721,182
Treasury Stock
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)
Ending balance	(48)	(48)	(48)	(48)	(48)	(48)	(48)	(48)	(48)	(48)	(48)	(48)
Additional Paid in Capital
Increase (Decrease) in Stockholders' Equity
Beginning balance	320,181	303,073	294,874	281,139	278,704	225,537	294,874	225,537	294,874	225,537	294,874	225,537
Stock-based compensation expense	2,174	2,632	2,689	2,495	2,079	3,299					9,217	10,541
Issuance of common stock for stock option exercises and restricted stock unit vesting, net	97	9	(4)	597	356	177					119	1,246
Issuance of common stock for capital raises, net		14,467	5,514			49,691					19,981	57,550
Ending balance	322,452	320,181	303,073	284,231	281,139	278,704	320,181	281,139	322,452	284,231	324,191	294,874
Accumulated Other Comprehensive Income
Increase (Decrease) in Stockholders' Equity
Beginning balance	22	25	26	10	0	0	26	0	26	0	26	0
Other comprehensive income (loss)	5	(3)	(1)	20	10						(6)	26
Ending balance	27	22	25	30	10	0	22	10	27	30	20	26
Accumulated Deficit
Increase (Decrease) in Stockholders' Equity
Beginning balance	(263,480)	(240,415)	(223,089)	(176,782)	(155,300)	(136,285)	(223,089)	(136,285)	(223,089)	(136,285)	(223,089)	(136,285)
Net loss	(11,717)	(23,065)	(17,326)	(23,913)	(21,482)	(19,015)					(63,078)	(86,804)
Ending balance	(275,197)	(263,480)	(240,415)	(200,695)	(176,782)	(155,300)	(263,480)	(176,782)	(275,197)	(200,695)	(286,167)	(223,089)
As previously reported
Increase (Decrease) in Stockholders' Equity
Beginning balance	70,281	75,800	84,052	114,108	131,129	95,818	84,052	95,818	84,052	95,818	$ 84,052	95,818
Stock-based compensation expense	2,174	2,632	2,689	2,495	2,079	3,299						10,541
Issuance of common stock for stock option exercises and restricted stock unit vesting, net	97	10	(1)	602	361	180						1,262
Issuance of common stock for capital raises, net		14,767	5,559			49,851						57,756
Other comprehensive income (loss)	5	(3)	(1)	20	10							26
Net loss	(14,162)	(22,925)	(16,498)	(21,922)	(19,471)	(18,019)	(39,423)	(37,490)	(53,585)	(59,412)		(81,351)
Ending balance	$ 58,395	$ 70,281	$ 75,800	$ 95,303	$ 114,108	$ 131,129	$ 70,281	$ 114,108	$ 58,395	$ 95,303		$ 84,052
As previously reported \| Preferred Stock \| Series A Convertible Preferred Stock
Increase (Decrease) in Stockholders' Equity
Convertible preferred stock, beginning balance (in shares)	0	0	0	0	7	7	0	7	0	7	0	7
Beginning balance	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0
Series A convertible preferred stock conversion (in shares)					(7)
Convertible preferred stock, ending balance (in shares)	0	0	0	0	0	7	0	0	0	0		0
Ending balance	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0		$ 0
As previously reported \| Preferred Stock \| Series B Convertible Preferred Stock
Increase (Decrease) in Stockholders' Equity
Convertible preferred stock, beginning balance (in shares)	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745
Beginning balance	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1
Convertible preferred stock, ending balance (in shares)	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745	54,745		54,745
Ending balance	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1	$ 1		$ 1
As previously reported \| Common Stock
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ 2,566	$ 2,265	$ 2,217	$ 2,163	$ 2,158	$ 1,995	$ 2,217	$ 1,995	$ 2,217	$ 1,995	$ 2,217	$ 1,995
Common stock, beginning balance (in shares)	256,608,552	226,548,693	221,721,182	216,271,262	215,752,926	199,502,183	221,721,182	199,502,183	221,721,182	199,502,183	221,721,182	199,502,183
Issuance of common stock for stock option exercises and restricted stock unit vesting, net (in shares)	12,935	59,859	348,555	538,675	515,221	277,323
Issuance of common stock for stock option exercises and restricted stock unit vesting, net		$ 1	$ 3	$ 5	$ 5	$ 3
Issuance of common stock for capital raises, net (in shares)		30,000,000	4,478,956			15,973,420
Issuance of common stock for capital raises, net		$ 300	$ 45			$ 160
Series A convertible preferred stock conversion (in shares)					3,115
Ending balance	$ 2,566	$ 2,566	$ 2,265	$ 2,168	$ 2,163	$ 2,158	$ 2,566	$ 2,163	$ 2,566	$ 2,168		$ 2,217
Common stock, ending balance (in shares)	256,621,487	256,608,552	226,548,693	216,809,937	216,271,262	215,752,926	256,608,552	216,271,262	256,621,487	216,809,937		221,721,182
As previously reported \| Treasury Stock
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)	$ (48)
Ending balance	(48)	(48)	(48)	(48)	(48)	(48)	(48)	(48)	(48)	(48)		(48)
As previously reported \| Additional Paid in Capital
Increase (Decrease) in Stockholders' Equity
Beginning balance	320,181	303,073	294,874	281,139	278,704	225,537	294,874	225,537	294,874	225,537	294,874	225,537
Stock-based compensation expense	2,174	2,632	2,689	2,495	2,079	3,299
Issuance of common stock for stock option exercises and restricted stock unit vesting, net	97	9	(4)	597	356	177
Issuance of common stock for capital raises, net		14,467	5,514			49,691
Ending balance	322,452	320,181	303,073	284,231	281,139	278,704	320,181	281,139	322,452	284,231		294,874
As previously reported \| Accumulated Other Comprehensive Income
Increase (Decrease) in Stockholders' Equity
Beginning balance	22	25	26	10	0	0	26	0	26	0	26	0
Other comprehensive income (loss)	5	(3)	(1)	20	10
Ending balance	27	22	25	30	10	0	22	10	27	30		26
As previously reported \| Accumulated Deficit
Increase (Decrease) in Stockholders' Equity
Beginning balance	(252,441)	(229,516)	(213,018)	(169,157)	(149,686)	(131,667)	(213,018)	(131,667)	(213,018)	(131,667)	(213,018)	(131,667)
Net loss	(14,162)	(22,925)	(16,498)	(21,922)	(19,471)	(18,019)						(81,351)
Ending balance	(266,603)	(252,441)	(229,516)	(191,079)	(169,157)	(149,686)	(252,441)	(169,157)	(266,603)	(191,079)		(213,018)
Adjustment
Increase (Decrease) in Stockholders' Equity
Beginning balance	(11,039)	(10,899)	(10,071)	(7,625)	(5,614)	(4,618)	(10,071)	(4,618)	(10,071)	(4,618)	$ (10,071)	(4,618)
Net loss	2,445	(140)	(828)	(1,991)	(2,011)	(996)	(968)	(3,007)	1,477	(4,998)		(5,453)
Ending balance	$ (8,594)	$ (11,039)	$ (10,899)	$ (9,616)	$ (7,625)	$ (5,614)	$ (11,039)	$ (7,625)	$ (8,594)	$ (9,616)		$ (10,071)
Adjustment \| Preferred Stock \| Series A Convertible Preferred Stock
Increase (Decrease) in Stockholders' Equity
Convertible preferred stock, beginning balance (in shares)	0	0	0	0	0	0	0	0	0	0	0	0
Beginning balance	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0
Convertible preferred stock, ending balance (in shares)	0	0	0	0	0	0	0	0	0	0		0
Ending balance	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0		$ 0
Adjustment \| Preferred Stock \| Series B Convertible Preferred Stock
Increase (Decrease) in Stockholders' Equity
Convertible preferred stock, beginning balance (in shares)	0	0	0	0	0	0	0	0	0	0	0	0
Beginning balance	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0
Convertible preferred stock, ending balance (in shares)	0	0	0	0	0	0	0	0	0	0		0
Ending balance	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0		$ 0
Adjustment \| Common Stock
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0
Common stock, beginning balance (in shares)	0	0	0	0	0	0	0	0	0	0	0	0
Ending balance	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0		$ 0
Common stock, ending balance (in shares)	0	0	0	0	0	0	0	0	0	0		0
Adjustment \| Treasury Stock
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0	$ 0
Ending balance	0	0	0	0	0	0	0	0	0	0		0
Adjustment \| Additional Paid in Capital
Increase (Decrease) in Stockholders' Equity
Beginning balance	0	0	0	0	0	0	0	0	0	0	0	0
Ending balance	0	0	0	0	0	0	0	0	0	0		0
Adjustment \| Accumulated Other Comprehensive Income
Increase (Decrease) in Stockholders' Equity
Beginning balance	0	0	0	0	0	0	0	0	0	0	0	0
Ending balance	0	0	0	0	0	0	0	0	0	0		0
Adjustment \| Accumulated Deficit
Increase (Decrease) in Stockholders' Equity
Beginning balance	(11,039)	(10,899)	(10,071)	(7,625)	(5,614)	(4,618)	(10,071)	(4,618)	(10,071)	(4,618)	$ (10,071)	(4,618)
Net loss	2,445	(140)	(828)	(1,991)	(2,011)	(996)						(5,453)
Ending balance	$ (8,594)	$ (11,039)	$ (10,899)	$ (9,616)	$ (7,625)	$ (5,614)	$ (11,039)	$ (7,625)	$ (8,594)	$ (9,616)		$ (10,071)

Amount of increase to additional paid-in capital (APIC) for recognition of cost for award under share-based payment arrangement.

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