Long-Term Debt - Hercules Loan Agreements (Details)				1 Months Ended	12 Months Ended			30 Months Ended
	Jul. 01, 2024 USD ($)	Jul. 01, 2023 USD ($)	Jan. 01, 2022 USD ($)	Jun. 30, 2019	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	Mar. 31, 2021 USD ($)	Dec. 21, 2020 USD ($)	Mar. 13, 2019 USD ($)
Line of Credit Facility [Line Items]
Fair value of warrants								$ 288,000		$ 5,200,000
Hercules Amended and Restated Loan Agreement
Line of Credit Facility [Line Items]
Interest rate				8.75%
Increase in interest rate				4.00%
Hercules Amended and Restated Loan Agreement | Prime Rate
Line of Credit Facility [Line Items]
Interest rate				6.00%
Hercules Amended and Restated Loan Agreement | Minimum
Line of Credit Facility [Line Items]
Variable interest rate				8.75%
Hercules First Amended Loan Agreement
Line of Credit Facility [Line Items]
Maximum borrowing capacity									$ 50,000,000
Hercules First Amended Loan Agreement | Discretionary Borrowings [Member]
Line of Credit Facility [Line Items]
Credit outstanding									$ 17,500,000
Hercules Second Amended Loan Agreement
Line of Credit Facility [Line Items]
Principal payments					$ 0
Effective interest rate					10.70%
Payment premium percentage					0.010
Hercules Second Amended Loan Agreement | Forecast
Line of Credit Facility [Line Items]
Periodic payment	$ 800,000	$ 1,300,000	$ 800,000
Hercules Second Amended Loan Agreement | Min Cash Test Date 1 [Member]
Line of Credit Facility [Line Items]
Line of Credit, Covenant, Minimum Cash					$ 30,000,000
Hercules Second Amended Loan Agreement | Min Cash Test Date 2 [Member]
Line of Credit Facility [Line Items]
Line of Credit, Covenant, Minimum Cash					20,000,000
Hercules Loan Agreement
Line of Credit Facility [Line Items]
Proceeds from line of credit								$ 32,500,000
Debt discount amortization					756,000	$ 531,000	$ 414,000
Interest expense					$ 3,642,000	$ 2,686,000	$ 1,807,000