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Debt - Additional Information (Details) - USD ($)
12 Months Ended
Aug. 18, 2021
May 09, 2020
Dec. 31, 2022
Dec. 31, 2021
May 31, 2022
Oct. 31, 2021
Debt Instrument [Line Items]            
Interest payable current     $ 168,000 $ 77,000    
Debt issuance costs       (518,000)    
Debt instrument, extended maturity date Feb. 01, 2026          
Long-term debt, net of debt issuance costs     10,348,000 9,505,000    
PPP Loan [Member] | Celtic Bank Corporation [Member]            
Debt Instrument [Line Items]            
Long term debt stated interest rate percentage   1.00%        
Gain on loan forgiveness   $ 647,000        
Proceeds from notes payable   $ 640,000        
Long term debt moratorium period   10 months        
Long term debt term   2 years        
Secured Debt [Member] | Hercules Capital Inc [Member]            
Debt Instrument [Line Items]            
Debt instrument, interest rate 3.25%          
Interest payable current     168,000 77,000    
Debt instrument, frequency of principal and interest payment monthly          
Debt issuance costs $ 518,000          
Amortization expense     $ 376,000 23,000    
Debt instrument maturity date Aug. 01, 2025          
Debt instrument interest only payments maturity date Mar. 01, 2023          
Debt instrument, interest rate terms     The outstanding principal bears interest at the greater of (a) 8.95% or (b) 8.95% plus the prime rate minus 3.25%.      
Repayments of debt $ 893,000          
Percentage of outstanding principal upon repayment of the loan 5.95%          
Proceeds from equity financing $ 40,000,000.0          
Debt instrument, face amount $ 50,000,000       $ 5,000,000.0  
Long-term debt, net of debt issuance costs     $ 10,300,000 $ 9,500,000    
Long term debt variable interest rate percentage 8.95%   13.20% 8.95%    
Long term debt base rate percentage 8.95%          
Secured Debt [Member] | Hercules Capital Inc [Member] | Tranche One [Member]            
Debt Instrument [Line Items]            
Debt instrument, face amount $ 15,000,000.0          
Secured Debt [Member] | Hercules Capital Inc [Member] | Tranche Two [Member]            
Debt Instrument [Line Items]            
Debt instrument, face amount 10,000,000.0          
Secured Debt [Member] | Hercules Capital Inc [Member] | Tranche Three [Member]            
Debt Instrument [Line Items]            
Debt instrument, face amount 10,000,000.0          
Secured Debt [Member] | Hercules Capital Inc [Member] | Tranche Four [Member]            
Debt Instrument [Line Items]            
Debt instrument, face amount $ 15,000,000.0          
Secured Debt [Member] | Hercules Capital Inc [Member] | Tranche Five [Member]            
Debt Instrument [Line Items]            
Debt instrument, face amount           $ 10,000,000.0