Stockholders' Equity - Schedule of Outstanding Warrants to Purchase Shares of Common Stock (Details)	9 Months Ended
	Sep. 30, 2023 $ / shares shares
Class Of Warrant Or Right [Line Items]
Shares of Common Stock Underlying Warrants	11,212,805
Warrants Term Loan
Class Of Warrant Or Right [Line Items]
Shares of Common Stock Underlying Warrants	25,000
Warrant exercise price | $ / shares	$ 22.06
Warrant expiration date	Jun. 30, 2025
Warrants Term Loan
Class Of Warrant Or Right [Line Items]
Shares of Common Stock Underlying Warrants	33,923
Warrant exercise price | $ / shares	$ 19.12
Warrant expiration date	May 28, 2031
Warrants Term Loan
Class Of Warrant Or Right [Line Items]
Shares of Common Stock Underlying Warrants	174,093
Warrant exercise price | $ / shares	$ 9.76
Warrant expiration date	Jan. 27, 2033
Warrants Public Offerings
Class Of Warrant Or Right [Line Items]
Shares of Common Stock Underlying Warrants	10,179,789
Warrant exercise price | $ / shares	$ 5.325
Warrant expiration date	Jul. 01, 2024
Pre-funded Warrants
Class Of Warrant Or Right [Line Items]
Shares of Common Stock Underlying Warrants	800,000
Warrant exercise price | $ / shares	$ 0.001
Expiration Date	Do Not Expire