Fair Value of Financial Instruments - Schedule of Fair Value of Financial Liabilities (Details) - Fair Value Measurement on Recurring Basis - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total Warrant Liability	$ 4,178	$ 6,795
2017 Placement Warrants Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total Warrant Liability	3,127	5,030
2016 Placement Warrants Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total Warrant Liability	1,051	1,765
Level 1
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total Warrant Liability	0	0
Level 1 | 2017 Placement Warrants Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total Warrant Liability	0	0
Level 1 | 2016 Placement Warrants Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total Warrant Liability	0	0
Level 2
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total Warrant Liability	0	0
Level 2 | 2017 Placement Warrants Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total Warrant Liability	0	0
Level 2 | 2016 Placement Warrants Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total Warrant Liability	0	0
Level 3
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total Warrant Liability	4,178	6,795
Level 3 | 2017 Placement Warrants Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total Warrant Liability	3,127	5,030
Level 3 | 2016 Placement Warrants Liability
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total Warrant Liability	$ 1,051	$ 1,765