Stock-based Compensation - Stock-Based Compensation (Details) - USD ($)	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Stock-based Compensation
Total stock-based compensation expense	$ 480,000	$ 1,063,000
Research and development expense
Stock-based Compensation
Total stock-based compensation expense	227,000	348,000
Sales and marketing expense
Stock-based Compensation
Total stock-based compensation expense	49,000	82,000
General and administrative expense
Stock-based Compensation
Total stock-based compensation expense	204,000	$ 633,000
Stock options and RSUs
Stock-based Compensation
Unrecognized stock-based compensation expense	$ 377,000
Expected weighted average period to be recognized	1 year 29 days
Employee stock options
Estimated grant-date fair value of stock options calculated using the Black-Scholes option-pricing model
Volatility (as a percent)		164.00%
Expected term (years)		5 years
Risk-free interest rate (as a percent)		3.20%