Debt - 2019 Exchange Notes (Details)	1 Months Ended				12 Months Ended
	Jan. 31, 2021 USD ($) shares	Dec. 31, 2020 USD ($) shares	Sep. 30, 2020 USD ($) $ / shares shares	May 31, 2019 USD ($) item	Dec. 31, 2022 USD ($) shares	Dec. 31, 2021 USD ($) shares
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Loss on extinguishment of debt	$ (753,000)				$ (2,187,000)	$ (753,000)
Outstanding | shares					0	0
Global amendment agreement
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Increase in principal debt (in percent)			5.00%
Increase in principal debt			$ 2,600,000
Global amendment agreement | Series D perpetual preferred stock
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Loss on extinguishment of debt		$ (1,300,000)
Stock issued during period, shares, new issues | shares			842,500
Preferred stock dividend rate (as a percent)			8.00%
Preferred stock dividend payable in arrears			24 months
Fair Value of stock at inception			$ 6,400,000
Preferred stock redemption price | $ / shares			$ 8.00
Shares issued on conversion | shares		70,622
Shares converted | shares		859,348
Outstanding | shares					0	0
Global amendment agreement | Series D perpetual preferred stock | Minimum
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Effective interest rate			12.00%
Global amendment agreement | Series D perpetual preferred stock | Maximum
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Effective interest rate			15.00%
December 2020 Purchase Agreement
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Principal amount		$ 1,000,000.0
Exchange Notes
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Number of Napo convertible notes | item				2
2019 Exchange Note 1
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Convertible debt payable						$ 0
Exchange Note 2
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Principal amount	$ 1,800,000			$ 2,300,000
Common stock issued in exchange of debt | shares	6,283	5,556
Exchange Note 2 | Global amendment agreement | Series D perpetual preferred stock
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Convertible debt payable			$ 0