Company Overview and Basis of Presentation (Details) - USD ($) $ / shares in Units, $ in Thousands								1 Months Ended	9 Months Ended		12 Months Ended	34 Months Ended
	Aug. 02, 2023	Jun. 14, 2023	Sep. 07, 2022	Jun. 06, 2022	Apr. 12, 2022	Mar. 26, 2021	Sep. 11, 2019	Jun. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Sep. 30, 2023	Aug. 01, 2023	Jul. 15, 2019
Subsidiary, Sale of Stock [Line Items]
Common stock, par value (in dollars per share)									$ 0.001		$ 0.001	$ 0.001
Common stock, shares outstanding (in shares)									66,740,765		54,827,734	66,740,765
Warrants issued (in shares)														2,000,000
Warrant exercise price (in dollars per share)														$ 0.001
Common Stock Warrants
Subsidiary, Sale of Stock [Line Items]
Warrants issued to purchase common stock (in shares)		3,689,452							8,689,452
Proceeds from warrant exercises	$ 4,800	$ 3,542							$ 8,342
Warrants issued (in shares)								8,850,000
Existing Warrants
Subsidiary, Sale of Stock [Line Items]
Proceeds from warrant exercises	$ 4,800
Class of warrant or right, outstanding (in shares)													5,000,000
Warrants issued (in shares)									1,714,429			1,714,429
Warrant exercise price (in dollars per share)													$ 0.96
Stock issued during period, conversion of convertible securities (in shares)	5,000,000
New Warrants
Subsidiary, Sale of Stock [Line Items]
Warrants issued (in shares)													2,750,000
Warrant exercise price (in dollars per share)													$ 2.60
Maximum | Common Stock Warrants
Subsidiary, Sale of Stock [Line Items]
Warrant exercise price (in dollars per share)								$ 1.09
Equity distribution agreement
Subsidiary, Sale of Stock [Line Items]
Sale of stock, aggregate offering price							$ 25,000
Common stock, par value (in dollars per share)							$ 0.001
Number of shares issued in transaction (in shares)									3,184,740	1,906,350
Consideration received on sale of stock									$ 5,274	$ 3,017
Equity distribution agreement | Maximum
Subsidiary, Sale of Stock [Line Items]
Sale of stock, aggregate offering price			$ 35
At-the-market offering, amendment no. 1 | Maximum
Subsidiary, Sale of Stock [Line Items]
Sale of stock, aggregate offering price						$ 50,000
At-the-market offering
Subsidiary, Sale of Stock [Line Items]
Number of shares issued in transaction (in shares)												13,526,697
Consideration received on sale of stock												$ 44,979
Payments for stock issuance costs									392	$ 237		2,476
Remaining amount available for offering									$ 27,750			$ 27,750
Lincoln Park agreement
Subsidiary, Sale of Stock [Line Items]
Number of shares issued in transaction (in shares)									0		1,600,000
Consideration received on sale of stock											$ 1,987
Right to sell common stock, value					$ 40
Agreement term					36 months
Lincoln Park agreement | Maximum
Subsidiary, Sale of Stock [Line Items]
Subsidiary or equity method investee, cumulative percentage ownership limitation after all transactions					9.99%
Securities purchase agreement
Subsidiary, Sale of Stock [Line Items]
Common stock, shares outstanding (in shares)				4,850,000
Shares of common stock				4,000,000				4,000,000
Shares of common stock in connection with securities purchase agreements				8,850,000				8,850,000
Net proceeds				$ 7,796
Lincoln Park Agreement, Commitment Share
Subsidiary, Sale of Stock [Line Items]
Number of shares issued in transaction (in shares)											236,491