Stock-based Compensation - Stock-Based Compensation (Details) - USD ($)	3 Months Ended		6 Months Ended		12 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Stock-based Compensation
Total stock-based compensation expense	$ 518,000	$ 1,017,000	$ 998,000	$ 2,080,000
Research and development expense
Stock-based Compensation
Total stock-based compensation expense	257,000	365,000	484,000	713,000
Sales and marketing expense
Stock-based Compensation
Total stock-based compensation expense	86,000	120,000	115,000	202,000
General and administrative expense
Stock-based Compensation
Total stock-based compensation expense	175,000	$ 532,000	399,000	$ 1,165,000
Stock options and RSUs
Stock-based Compensation
Unrecognized stock-based compensation expense	$ 294,000		$ 294,000
Expected weighted average period to be recognized			9 months 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%