Organization and Description of Business - Additional Information (Details) $ / shares in Units, $ in Millions			3 Months Ended	6 Months Ended
	May 09, 2023 USD ($) Contractor Employee	Apr. 24, 2023 $ / shares	Jun. 30, 2023 USD ($)	Jun. 30, 2023 USD ($) $ / shares	Jun. 30, 2022 USD ($)
Organization And Description Of Business [Line Items]
Going concern, net loss				$ 60.6
Going concern, net cash used in operating activities				8.9
Going concern, unrestricted cash and cash equivalents			$ 28.9	28.9
Going concern, accumulated deficit			685.8	685.8
Going concern, revenue				$ 70.1	$ 99.9
Number of consecutive business days below closing minimum bid requirement		30 years		30 days
Minimum bid price requirement | $ / shares		$ 1.00		$ 1.00
Stock exchange stock trading price description				The Bid Price Notice has no immediate effect on the continued listing status of our common stock on The Nasdaq Capital Market, and, therefore, our listing remains fully effective.
Number of employees plan to reduce | Employee	50
Number of contractors plan to reduce | Contractor	15
Restructuring charges			$ 1.2	$ 0.5
Workforce Severance
Organization And Description Of Business [Line Items]
Restructuring charges	$ 0.5
Retention Bonus Settled
Organization And Description Of Business [Line Items]
Restructuring charges	0.4
System Contract Terminations
Organization And Description Of Business [Line Items]
Restructuring charges	$ 0.3
Maximum
Organization And Description Of Business [Line Items]
Number of consecutive business days below closing minimum bid requirement				20 days
Minimum closing bid price | $ / shares		$ 1.00