Debt - Streeterville Note (Details)		1 Months Ended	3 Months Ended		9 Months Ended
	Jan. 13, 2021 USD ($)	Jan. 31, 2021	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Dec. 31, 2022 USD ($)
Debt
Fair value			$ 30,000,000.0		$ 30,000,000.0		$ 7,800,000
Streeterville Note
Debt
Principal amount	$ 6,200,000
Aggregate purchase price	$ 6,000,000.0
Debt term	4 years
Interest rate (as a percent)	3.25%
Percentage of return bonus payable	1
Percentage of reduction in return bonus		1
Term for initiation of human trials		6 months
Percentage of outstanding balance payable elected to prepay					112.5
Capped percentage of aggregate default	25.00%
Fair value	$ 6,000,000.0		9,500,000		$ 9,500,000		$ 7,800,000
Transaction expense	$ 25,000
Decrease in fair value			$ 762,000	$ 175,000	$ 1,700,000	$ 651,000
Streeterville Note | Maximum
Debt
Interest rate (as a percent)	18.00%
Percentage of gross proceeds received from return					18
Percentage of default effect	15.00%
Streeterville Note | Minimum
Debt
Interest rate (as a percent)			1.00%		1.00%
Percentage of default effect	5.00%
Accounts Receivable Purchase Agreement | Streeterville Note
Debt
Interest rate (as a percent)	25.00%
Transaction fee	$ 25,000