Debt - Sale of Future Royalty Interest (Details)																								3 Months Ended		9 Months Ended
	Sep. 29, 2023 USD ($) $ / shares shares	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 ($)	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Aug. 14, 2023	Jun. 30, 2023 $ / shares shares	Dec. 31, 2022 USD ($)	Nov. 01, 2020 $ / shares
Debt Instrument [Line Items]
Gain (loss) on extinguishment of debt																								$ 3,697,000		$ 3,697,000	$ (2,187,000)
Term of warrant																												5 years
Fair value																								30,000,000.0		30,000,000.0				$ 7,800,000
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
Series I convertible preferred stock
Debt Instrument [Line Items]
Issuance of common stock (In shares) | shares	118
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%
Minimum volume weighted average price of stock | $ / shares																						$ 0.9105									$ 0.9105
Increase in royalty repayment amount																						$ 6,000,000.0
Additional royalty financings committed																					$ 6,000,000.0
Gain (loss) on extinguishment of debt														$ (2,200,000)												(2,000,000.0)
October 2020 Purchase Agreement | Iliad
Debt Instrument [Line Items]
Principal amount													$ 12,000,000.0
Fair value of notes																								7,000,000.0		7,000,000.0
Net loss in the fair value																								(397,000)		(397,000)
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%
Royalties incurred						$ 675,000
Issuance of common stock (In shares) | shares						150,000
Gain (loss) on extinguishment of debt																										(2,700,000)
December 2020 Purchase Agreement | Iliad
Debt Instrument [Line Items]
Principal amount													$ 12,000,000.0
December 2020 Purchase Agreement | Uptown Park Capital, LLC
Debt Instrument [Line Items]
Fair value of notes																								6,900,000		6,900,000
Net loss in the fair value																								899,000		899,000
December 2020 Purchase Agreement | Series H convertible preferred stock | Streeterville
Debt Instrument [Line Items]
Aggregate shares value		1,726,888
December 2020 Purchase Agreement | Series H convertible preferred stock | Uptown Park Capital, LLC
Debt Instrument [Line Items]
Aggregate shares value		756,992.00
December 2020 Purchase Agreement | Series I convertible preferred stock | Uptown Park Capital, LLC
Debt Instrument [Line Items]
Aggregate shares value	$ 1,500,000.00
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%
Threshold price																			$ 10,000,000.0
Percentage of royalties collected from licenses																			50.00%
Interest expense																								531,000	$ 409,000	1,500,000	1,400,000
Carrying value of notes																								3,800,000		$ 3,800,000				$ 3,100,000
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																	$ 2,000,000.0		$ 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
Debt Instrument [Line Items]
Gain (loss) on extinguishment of debt																										$ (1,000,000.0)
Fair value																								6,500,000		6,500,000
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%
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]
Number of shares to be exchanged | shares			1,908,651
Partitioned Royalty			$ 1,073,807
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
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
Standstill Agreement | Uptown warrants
Debt Instrument [Line Items]
Warrants to purchase shares of Common stock | shares			1,097,756																										2,105,348
Standstill Agreement | Standstill Warrants [Member]
Debt Instrument [Line Items]
Exercise price (in dollars per share) | $ / shares			$ 0.48																										$ 0.48
Term of warrant			5 years
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
Global Amendment No 2 to Royalty Interest October 2020 Purchase Agreement | Iliad
Debt Instrument [Line Items]
Warrants to purchase shares of Common stock | shares	232,500
Exercise price (in dollars per share) | $ / shares	$ 0.37
Threshold monthly royalty payment payable	$ 750,000.00
Term of warrant	5 years
Global Amendment No 2 to Royalty Interest October 2020 Purchase Agreement | Streeterville Warrants
Debt Instrument [Line Items]
Net loss in the fair value																								$ (364,000)		$ (364,000)
Global Amendment No 2 to Royalty Interest December, 2020 Purchase Agreement | Uptown Park Capital, LLC
Debt Instrument [Line Items]
Warrants to purchase shares of Common stock | shares	262,500
Exercise price (in dollars per share) | $ / shares	$ 0.37
Threshold monthly royalty payment payable	$ 750,000.00
Term of warrant	5 years
Global Amendment No 2 to Royalty Interest August, 2022 Purchase Agreement | Streeterville
Debt Instrument [Line Items]
Warrants to purchase shares of Common stock | shares	255,000
Exercise price (in dollars per share) | $ / shares	$ 0.37
Threshold monthly royalty payment payable	$ 750,000.00
Term of warrant	5 years