Credit Facility and Term Loans - Additional Information (Details)												12 Months Ended
	Apr. 08, 2024	Feb. 01, 2023	Dec. 31, 2021 USD ($) $ / shares	Dec. 22, 2021 USD ($) $ / shares shares	Sep. 22, 2021 USD ($) TradingDay $ / shares shares	Aug. 09, 2021 USD ($) $ / shares shares	Jun. 15, 2021	Apr. 08, 2021 USD ($) shares	Dec. 31, 2020 USD ($)	Dec. 01, 2020 USD ($) Installment	Nov. 23, 2018 USD ($)	Dec. 31, 2022 USD ($) $ / shares	Dec. 31, 2021 USD ($) $ / shares	Dec. 31, 2020 USD ($)	Dec. 31, 2018 USD ($)	Sep. 29, 2022 shares	Mar. 01, 2022 $ / shares shares	Sep. 23, 2021 shares	Feb. 02, 2021 USD ($)
Debt Instrument [Line Items]
Loss on extinguishment													$ 138,859,000
Interest expense of credit facilities													400,000
Expense related to debt issuance costs													100,000
Interest expense												$ 2,696,000	13,250,000
Common stock shares issued | shares						2,666,667
Accounts receivable, net						$ 65,000,000.0
Cash and cash equivalents			$ 30,317,000									$ 43,574,000	$ 30,317,000
Warrants exercise period after resale							60 days
Common stock, par value | $ / shares			$ 0.0001									$ 0.0001	$ 0.0001
Minimum
Debt Instrument [Line Items]
Increase minimum cash threshold covenant						15,000,000.0
Cash and cash equivalents						30,000,000
Maximum
Debt Instrument [Line Items]
Increase minimum cash threshold covenant						30,000,000.0
Restricted Stock
Debt Instrument [Line Items]
Loss on extinguishment								$ 4,100,000
February Warrant, Penny Warrant and Additional Warrant
Debt Instrument [Line Items]
Reclassification from a liability to component of equity													$ 80,000,000.0
Reclassification from a component of equity to liability													21,300,000
Private Placement
Debt Instrument [Line Items]
Gross proceeds received								14,800,000
Horizon Term Loan
Debt Instrument [Line Items]
Credit facility maximum borrowing amount															$ 15,000,000.0
Debt instrument maturity month and year															2023-01
Repaying of term loan										$ 15,000,000.0
Interest expense													0.0	$ 1,400,000
Amortization of debt issuance costs													0.0	600,000
High Trail Loan December 2020 Note
Debt Instrument [Line Items]
Gross proceeds received										38,000,000.0
Aggregate principal amount										$ 43,000,000.0
Number of repayment installments | Installment										24
Line of credit facility, frequency of payments										monthly
Cash payments										$ 1,800,000
Line of credit facility covenant minimum liquidity requirement in unrestricted cash on hand										10,000,000.0
High Trail April 2021 Note
Debt Instrument [Line Items]
Loss on extinguishment								(28,200,000)
Repaying of term loan													10,139,000
Event of default description												On August 9, 2021, pursuant to those certain Letter Agreements entered into between the Company and High Trail with respect to each of the April 2021 Notes (collectively, the “August Letter Agreements”), High Trail notified the Company that High Trail declared an event of default under the April 2021 Notes as a result of the Company’s Adjusted EBITDA (as defined in the April 2021 Notes) not being equal to at least $12 million for the 12 month period ended June 30, 2021 and further notified the Company that High Trail immediately accelerated a total of $18.7 million of the principal amount of the April 2021 Notes, requiring the Company to immediately pay $21.5 million (such amount equal to 115% of the principal amount that was accelerated, as required under the terms of the April 2021 Notes, plus $0.3 million of accrued but unpaid interest on the principal amount that was accelerated) (the “Current Event of Default Acceleration Amount”).
Accelerated principal amount					$ 66,300,000	18,700,000
Debt instrument redemption amount						$ 21,500,000
Debt instrument redemption price percentage						115.00%
Accrued, Unpaid interest						$ 300,000
Base percentage used to calculate current event of default acceleration					0.80	0.80
Description of current event of default acceleration payment												Pursuant to the August Letter Agreements, the Company agreed, among other things, to pay the Current Event of Default Acceleration Amount in cash by August 9, 2021 and that any portion not paid in cash would be paid in shares of the Company’s common stock under the terms of the April 2021 Notes, with the number of shares issuable equal to the unpaid Current Event of Default Acceleration Amount divided by 80% of the lesser of (i) the Daily VWAP (as defined in the April 2021 Notes) on August 9, 2021 and (ii) the average of the lowest two (2) Daily VWAPs during the ten (10) day VWAP trading period ending on August 9, 2021.
High Trail April 2021 Note | Minimum
Debt Instrument [Line Items]
Debt instrument default amount						$ 12,000,000
High Trail
Debt Instrument [Line Items]
Loss on extinguishment			$ 2,500,000										2,500,000
Repaying of term loan													25,000,000.0
Maturity date					Apr. 01, 2023
Debt instrument redemption amount					$ 76,900,000
Debt instrument redemption price percentage					115.00%
Accrued, Unpaid interest					$ 300,000
Warrant exercisable to common stock percentage					200.00%
Warrants consecutive trading days | TradingDay					20
Warrants to purchase shares, exercise price | $ / shares					$ 0.01
Common stock issued subject to satisfy obligation to repay acceleration amount | shares					3,474,814													5,838,096
Notes extinguished in exchange for debt repayment					$ 25,000,000.0
High Trail | High Trail Debt Repayment
Debt Instrument [Line Items]
Loss on extinguishment													107,000,000.0
High Trail | High Trail April 2022 Notes Repayment
Debt Instrument [Line Items]
Loss on extinguishment													28,200,000
High Trail | High Trails Term Loan
Debt Instrument [Line Items]
Available balance of credit facility			25,000,000.0										25,000,000.0
High Trail | Credit Facility
Debt Instrument [Line Items]
Loss on extinguishment													1,500,000
High Trail | Minimum
Debt Instrument [Line Items]
Increase minimum cash threshold covenant					$ 15,000,000.0
Beneficial ownership limit, percentage					9.99%
High Trail | Maximum
Debt Instrument [Line Items]
Increase minimum cash threshold covenant					$ 30,000,000.0
Securities Purchase Agreement | Common Stock
Debt Instrument [Line Items]
Warrants to purchase shares | shares																10,643,034	4,827,242
Common stock, par value | $ / shares																	$ 0.0001
Securities Purchase Agreement | High Trail February 2021 Note
Debt Instrument [Line Items]
Cash payments								57,700,000
Securities Purchase Agreement | High Trail February 2021 Note | 0% Coupon Senior Secured Promissory Note | Investor
Debt Instrument [Line Items]
Aggregate principal amount																			$ 16,500,000
Interest rate																			0.00%
Securities Purchase Agreement | High Trail February 2021 Note | 0% Coupon Senior Secured Promissory Note | Investor | Subsequent Event
Debt Instrument [Line Items]
Maturity date		Feb. 01, 2023
Securities Purchase Agreement | High Trail February 2021 Note | Senior Secured Promissory Notes | Private Placement
Debt Instrument [Line Items]
Aggregate principal amount								$ 110,000,000.0
Securities Purchase Agreement | High Trail April 2021 Note | Common Stock
Debt Instrument [Line Items]
Warrants to purchase shares | shares								2,259,166
Securities Purchase Agreement | High Trail April 2021 Note | Senior Secured Promissory Notes | Private Placement
Debt Instrument [Line Items]
Interest rate								8.00%
Securities Purchase Agreement | High Trail April 2021 Note | Senior Secured Promissory Notes | Private Placement | Scenario Forecast
Debt Instrument [Line Items]
Maturity date	Apr. 08, 2024
April Letter Agreement
Debt Instrument [Line Items]
Common stock shares issued | shares								130,000
SPA Amendment
Debt Instrument [Line Items]
Warrant amendment description												The Warrant Amendments amended the February Warrant, the Penny Warrant and the Additional Warrant to amend the definition of “Black Scholes Value” in each warrant to provide that the expected volatility used in the Black Scholes Value shall equal 100% instead of the greater of 100% and the 100-day volatility obtained from the HVT function on Bloomberg (determined utilizing a 365-day annualization factor) as of the trading day immediately following the public announcement of a Change of Control (as defined in each of the warrants), or, if the Change of Control is not publicly announced, the date the Change of Control is consummated.
Letter Agreements | High Trail April 2022 Note
Debt Instrument [Line Items]
Base percentage used to calculate current event of default acceleration						0.80
Payment in cash of current event of default acceleration amount						$ 10,100,000
Payment in shares of current event of default acceleration amount						$ 11,700,000
Payment in shares of current event of default acceleration shares | shares						2,841,251
Share price | $ / shares						$ 4.1007
London Interbank Offered Rate (LIBOR) | Horizon Term Loan
Debt Instrument [Line Items]
Debt instrument, basis spread on variable rate															9.90%
Description of variable rate basis												one-month LIBOR
MidCap Credit Facility
Debt Instrument [Line Items]
Credit facility maximum borrowing amount				$ 40,000,000.0					$ 30,000,000.0		$ 25,000,000.0			30,000,000.0
Additional increase in borrowing amount											$ 50,000,000.0			50,000,000.0
Debt instrument, basis spread on variable rate				5.50%
Line of credit facility, unused capacity, commitment fee percentage				0.50%							0.50%
Debt offset against and expense over the term				3 years
Aggregate principal amount				$ 110,000,000.0
Line of credit facility, minimum liquidity financial covenant requirement in cash on hand									6,500,000
Line of credit, outstanding									$ 12,900,000			$ 0		$ 12,900,000
Available balance of credit facility			$ 1,400,000										1,400,000
Loss on extinguishment													1,500,000
Gross proceeds received				$ 27,600,000
Warrants to purchase shares | shares				200,000
Warrants to purchase shares, exercise price | $ / shares												$ 4.70
Common stock, par value | $ / shares				$ 0.0001
Line of credit facility, maximum liquidity requirements during the period				$ 12,500,000
Line of credit facility, maximum liquidity requirements at all other times				$ 15,000,000.0
Line of credit facility, covenant terms												The Credit Agreement minimum liquidity covenant requires that Midcap shall not permit the credit party liquidity at any time to be less than (a) during the period commencing on February 1st through and including May 31st of each calendar year, $12.5 million and (b) at all other times, $15.0 million.
Warrants term												10 years
MidCap Credit Facility | Senior Secured Note
Debt Instrument [Line Items]
Aggregate principal amount										$ 43,000,000.0
MidCap Credit Facility | London Interbank Offered Rate (LIBOR)
Debt Instrument [Line Items]
Debt instrument, basis spread on variable rate											5.75%
MidCap Credit Facility | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate [Member]
Debt Instrument [Line Items]
Debt instrument, basis spread on variable rate				0.10%
Revolving Credit Facility
Debt Instrument [Line Items]
Loss on extinguishment													$ 1,532,000
Revolving Credit Facility | Terminated Credit Agreement
Debt Instrument [Line Items]
Prepayment fee, percentage								4.30%