Fair Value of Financial Instruments - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash and cash equivalents	$ 2,548,000	$ 15,557,000
Derivative Liability, Statement of Financial Position [Extensible Enumeration]	Other liabilities, noncurrent
Derivative, Gain, Statement of Income or Comprehensive Income [Extensible Enumeration]	Other income (expense), net, including interest income
Fair value of warrants	$ 17,000	9,000
Fair Value, Recurring
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability	59,000	56,000
Fair value of warrants	17,000	9,000
Cash equivalents - money market funds
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash and cash equivalents	0	1,681,000
Cash equivalents - money market funds	0	1,681,000
Cash equivalents - money market funds | Fair Value, Recurring
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash equivalents - money market funds	$ 0	$ 1,681,000
Shares issuable upon conversion of 2021 Private Warrants
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value price of warrants (in dollars per share)	$ 0.02	$ 0.01
Fair value of warrants	$ 11,000	$ 6,000
Shares issuable upon conversion of 2021 PIPE Warrants
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value price of warrants (in dollars per share)	$ 0.02	$ 0.01
Fair value of warrants	$ 6,000	$ 3,000
2026 Notes | Convertible notes
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Fair value of derivative liability	100,000	100,000
Loss on fair value of derivative liability	$ 3,000
Gain on fair value of derivative liability		$ 7,500,000