Notes Payable and Convertible Notes - LI Lending LLC Additional Information (Details) $ in Millions		1 Months Ended		3 Months Ended		9 Months Ended
	Apr. 30, 2020 USD ($)	Jul. 31, 2023 USD ($)	Dec. 31, 2020	Sep. 30, 2023 USD ($) draw shares	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($) draw shares	Sep. 30, 2022 USD ($)	Aug. 10, 2023 shares	Dec. 31, 2022 shares	Jan. 01, 2022	May 10, 2019 USD ($)
Debt Instrument [Line Items]
Warrants (in shares) | shares				5,499,975		5,499,975			6,352,278
Warrants Exercisable Through May1, 2026
Debt Instrument [Line Items]
Warrants (in shares) | shares								100,358,824
LI Lending LLC Loan Agreement
Debt Instrument [Line Items]
Maximum borrowing capacity under credit facility											$ 50.0
Amount drawn				$ 43.0		$ 43.0
Number of draws made | draw				2		2
Percentage of exit fee of the principal balance						20.00%
Increase in interest rate			2.50%
Interest expense, debt				$ 2.0	$ 2.5	$ 5.8	$ 5.8
Repayments of debt				1.6	$ 2.2	4.8	$ 4.7
LI Lending LLC Loan Agreement | LI Lending Facility, Draw One
Debt Instrument [Line Items]
Amount drawn	$ 33.0			$ 35.0		$ 35.0
Interest rate				10.25%		10.25%
Debt prepayment	$ 2.0
Interest rate on initial loan amount										12.75%
LI Lending LLC Loan Agreement | LI Lending Facility, Draw Two
Debt Instrument [Line Items]
Amount drawn				$ 10.0		$ 10.0
Interest rate				12.25%		12.25%
Interest rate on final loan amount										14.75%
First Amendment To LI Lending LLC Loan Agreement
Debt Instrument [Line Items]
Debt stated Interest rate		12.00%
Debt extension fee		$ 0.5
Additional debt discount				$ 4.7