Debt - Sale of Future Royalty Interest (Details)																							3 Months Ended		6 Months Ended
	Jun. 28, 2023 USD ($) shares	May 08, 2023 USD ($) item $ / shares shares	Mar. 23, 2023 USD ($) shares	Mar. 17, 2023 USD ($) shares	Feb. 08, 2023 USD ($) shares	Nov. 18, 2022 USD ($) shares	Sep. 30, 2022 USD ($) shares	Aug. 24, 2022 USD ($)	Aug. 17, 2022 USD ($) $ / shares shares	Jul. 25, 2022 USD ($) shares	May 13, 2022 USD ($) shares	Apr. 14, 2022 USD ($)	Mar. 09, 2022 USD ($) shares	Mar. 04, 2022 USD ($) shares	Mar. 02, 2022 USD ($) shares	Feb. 11, 2022 USD ($) shares	Apr. 13, 2021 USD ($) shares	Mar. 08, 2021 USD ($)	Dec. 22, 2020 USD ($)	Nov. 13, 2020 USD ($)	Oct. 31, 2020 USD ($) $ / shares	Oct. 08, 2020 USD ($)	Jun. 30, 2023 USD ($) $ / shares shares	Jun. 30, 2022 USD ($)	Jun. 30, 2023 USD ($) $ / shares shares	Jun. 30, 2022 USD ($)	Dec. 31, 2022 USD ($)	Nov. 01, 2020 $ / shares
Debt Instrument [Line Items]
Loss on extinguishment of debt																									$ 0	$ (2,187,000)
Iliad
Debt Instrument [Line Items]
Royalties incurred			$ 227,000	$ 992,000		$ 715,000				$ 750,000	$ 400,000		$ 700,000	$ 800,000	$ 1,100,000	$ 2,400,000	$ 3,000,000.0
Issuance of common stock (In shares) | shares			3,733	14,533		978				31,546	15,249		24,667	26,667	32,333	23,117	7,843
Series H convertible preferred stock | Streeterville
Debt Instrument [Line Items]
Royalty interest	$ 756,992
Beginning on March 2021
Debt Instrument [Line Items]
Shortfall restoration period																		30 days
October 2020 Purchase Agreement
Debt Instrument [Line Items]
Payments for royalties																						$ 12,000,000.0
Aggregate purchase price																						$ 6,000,000.0
Percentage of net sales																						10.00%
Percentage of worldwide revenues																						10.00%
Royalty interest																						$ 12,000,000.0
Royalty discount																						$ 6,000,000.0
Royalty discount rate																	77.09%			45.42%		34.51%			40.49%
Minimum volume weighted average price of stock | $ / shares																					$ 0.9105							$ 0.9105
Additional royalty financings committed																				$ 6,000,000.0
Loss on extinguishment of debt													$ (2,200,000)
Interest expense																							$ 693,000	$ 737,000	$ 1,300,000	2,100,000
Carrying value of notes																							5,600,000		$ 5,600,000		$ 7,300,000
Increase In Royalty Repayment Amount																					$ 6,000,000.0
October 2020 Purchase Agreement | Iliad
Debt Instrument [Line Items]
Principal amount												$ 12,000,000.0
October 2020 Purchase Agreement | Iliad | Minimum
Debt Instrument [Line Items]
Percentage of shares issued and outstanding												4.99%
October 2020 Purchase Agreement | Beginning On April 2021
Debt Instrument [Line Items]
Minimum monthly royalty repayment amount																						$ 250,000
October 2020 Purchase Agreement | Beginning On October 2021
Debt Instrument [Line Items]
Minimum monthly royalty repayment amount																						400,000
October 2020 Purchase Agreement | Beginning On April 2022
Debt Instrument [Line Items]
Minimum monthly royalty repayment amount																						600,000
October 2020 Purchase Agreement | Beginning On October 2022
Debt Instrument [Line Items]
Minimum monthly royalty repayment amount																						$ 750,000
December 2020 Purchase Agreement
Debt Instrument [Line Items]
Aggregate purchase price																			$ 6,000,000.0
Percentage of net sales																			10.00%
Percentage of worldwide revenues																			10.00%
Minimum monthly royalty repayment amount																			$ 750,000
Royalty interest																			12,000,000.0
Royalty discount																			$ 6,000,000.0
Royalty discount rate																			23.70%						68.88%
Royalties incurred					$ 675,000
Issuance of common stock (In shares) | shares					150,000
Interest expense																							918,000	962,000	$ 2,000,000.0	1,700,000
Carrying value of notes																							6,700,000		$ 6,700,000		10,000,000.0
December 2020 Purchase Agreement | Iliad
Debt Instrument [Line Items]
Principal amount												$ 12,000,000.0
March 2021 Purchase Agreement
Debt Instrument [Line Items]
Aggregate purchase price																		$ 5,000,000.0
Percentage of net sales																		10.00%
Percentage of worldwide revenues																		10.00%
Royalty discount rate																		19.36%							19.14%
Interest expense																							497,000	595,000	$ 944,000	1,000,000.0
Carrying value of notes																							3,800,000		$ 3,800,000		3,100,000
Threshold price																		$ 10,000,000.0
Percentage of royalties collected from licenses																		50.00%
March 2021 Purchase Agreement | Iliad
Debt Instrument [Line Items]
Principal amount												$ 10,000,000.0
March 2021 Purchase Agreement | Streeterville
Debt Instrument [Line Items]
Aggregate purchase price									$ 3,400,000
Royalty interest							$ 2,000,000.0
Royalty discount rate																									53.85%
Royalties incurred							$ 2,000,000.0
Issuance of common stock (In shares) | shares							156,863		153,333
Common stock, par value (in dollars per share) | $ / shares									$ 0.0001
March 2021 Purchase Agreement | Beginning on March 2021
Debt Instrument [Line Items]
Royalty interest																		$ 10,000,000.0
Royalty discount																		5,000,000.0
March 2021 Purchase Agreement | Beginning On April 2021
Debt Instrument [Line Items]
Minimum monthly royalty repayment amount																		$ 250,000
Increase in royalty repayment, percent																		5.00%
March 2021 Purchase Agreement | Beginning On October 2021
Debt Instrument [Line Items]
Minimum monthly royalty repayment amount																		$ 400,000
March 2021 Purchase Agreement | Beginning On April 2022
Debt Instrument [Line Items]
Increase in royalty repayment, percent																		10.00%
Royalty instrument, Debt instrument carrying value																		$ 600,000
March 2021 Purchase Agreement | Beginning On October 2022
Debt Instrument [Line Items]
Minimum monthly royalty repayment amount																		$ 750,000
August 2022 Purchase Agreement | Streeterville
Debt Instrument [Line Items]
Aggregate purchase price								$ 4,000,000.0
Percentage of net sales								10.00%
Percentage of worldwide revenues								10.00%
Royalty interest								$ 12,000,000.0
Royalty discount rate								55.97%
Interest expense																							979,000	$ 0	$ 1,800,000	$ 0
Carrying value of notes																							$ 4,700,000		$ 4,700,000		$ 4,800,000
Percentage of royalties collected from licenses								50.00%
August 2022 Purchase Agreement | Until One Year Anniversary | Streeterville
Debt Instrument [Line Items]
Accrued interest rate on royalty								5.00%
August 2022 Purchase Agreement | After One Year Anniversary | Streeterville
Debt Instrument [Line Items]
Accrued interest rate on royalty								10.00%
August 2022 Purchase Agreement | Beginning On September 2022 | Streeterville
Debt Instrument [Line Items]
Minimum monthly royalty repayment amount								$ 250,000
August 2022 Purchase Agreement | Beginning On March 2023 | Streeterville
Debt Instrument [Line Items]
Minimum monthly royalty repayment amount								400,000
August 2022 Purchase Agreement | Beginning On September 2023 | Streeterville
Debt Instrument [Line Items]
Minimum monthly royalty repayment amount								600,000
August 2022 Purchase Agreement | Beginning On March 2024 | Streeterville
Debt Instrument [Line Items]
Minimum monthly royalty repayment amount								$ 750,000
Royalty Interest Exchange Agreement December 2020 [Member]
Debt Instrument [Line Items]
Partitioned Royalty		$ 1,073,807
Number of shares to be exchanged | shares		1,908,651
Standstill Agreement
Debt Instrument [Line Items]
Number of royalty interests issued | item		4
Agreement term		6 months
Exercise price (in dollars per share) | $ / shares																							$ 0.48		$ 0.48
Standstill Agreement | Streeterville Warrants
Debt Instrument [Line Items]
Warrants to purchase shares of Common stock | shares		1,892,808
Standstill Agreement | Iliad Warrants [Member]
Debt Instrument [Line Items]
Warrants to purchase shares of Common stock | shares		826,738																					1,711,954		1,711,954
Standstill Agreement | Uptown Warrants [Member]
Debt Instrument [Line Items]
Warrants to purchase shares of Common stock | shares		1,097,756																					2,105,348		2,105,348
Standstill Agreement | Standstill Warrants [Member]
Debt Instrument [Line Items]
Exercise price (in dollars per share) | $ / shares		$ 0.48																					$ 0.48		$ 0.48
Standstill Agreement | Series H convertible preferred stock | Streeterville
Debt Instrument [Line Items]
Royalty interest	$ 1,726,888
Number of shares to be exchanged | shares	105