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Related Party Transactions - 2019 Debt Financings (Details)
$ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended 12 Months Ended
Dec. 18, 2022
USD ($)
Dec. 12, 2022
USD ($)
Nov. 01, 2022
USD ($)
Jun. 19, 2022
USD ($)
Apr. 30, 2023
Dec. 31, 2019
USD ($)
item
Jun. 30, 2023
USD ($)
Jun. 30, 2022
USD ($)
Jun. 30, 2023
USD ($)
item
Jun. 30, 2022
USD ($)
Dec. 31, 2022
USD ($)
item
Dec. 31, 2021
USD ($)
Jul. 22, 2022
USD ($)
Jun. 30, 2019
USD ($)
Related Party Transactions                            
Percentage Of Shares Holders Receive Via Previous Warrant Agreement         85.00%                  
Debt extinguishment due to warrant modification             $ 17,036   $ 17,000          
Additional Paid-in Capital                            
Related Party Transactions                            
Debt extinguishment due to warrant modification             17,036   17,000          
Convertible Notes 2019                            
Related Party Transactions                            
Percentage of repayment of principal amount           175.00%                
Percentage of Convertible Notes automatically convert into number of shares of Company's common stock, of principal amount           175.00%                
Income (expense) related to decrease (increase) in fair value             (100) $ (2,000) (700) $ (100) $ (1,700) $ 100    
Percentage Of Shares Holders Receive Via Previous Warrant Agreement         85.00%                  
Debt extinguishment due to warrant modification             5,200   5,200          
Principal amount outstanding             6,000   6,000   6,000 10,000    
Estimated fair value of convertible notes             8,700   8,700   $ 13,300 $ 15,600    
Convertible Notes 2019 | Additional Paid-in Capital                            
Related Party Transactions                            
Debt extinguishment due to warrant modification             5,200   $ 5,200          
Additional promissory note                            
Related Party Transactions                            
Principal amount           $ 5,000               $ 5,000
Number of additional convertible promissory notes sold | item           5                
Additional promissory note | Board of directors | Convertible Notes 2019                            
Related Party Transactions                            
Principal amount           $ 1,000                
Number of additional convertible promissory notes sold | item           1                
Convertible note                            
Related Party Transactions                            
Contingent warrants exercised by Company's stockholders to reduce Company's convertible note obligations | item                 0   0      
Interest rate (as a percent)                     10.00%   0.00%  
Convertible note | Simhambhatla                            
Related Party Transactions                            
Principal amount                         $ 1,000  
Repayable amount   $ 1,700 $ 1,000                      
Percentage of repayment of principal amount   175.00%                        
Principal amount outstanding   $ 700 700                   700  
Additional amount repayable to the principal amount $ 700   700                      
Repayment of notes     $ 1,000                      
Convertible note | Jaywin                            
Related Party Transactions                            
Principal amount                         1,000  
Repayable amount   $ 1,700                        
Percentage of repayment of principal amount   175.00% 175.00%                      
Principal amount outstanding   $ 700                     700  
Additional amount repayable to the principal amount   700                        
Repayment of notes   1,000                        
Convertible note | Willis                            
Related Party Transactions                            
Principal amount                         1,000  
Repayable amount   $ 1,700                        
Percentage of repayment of principal amount   175.00%                        
Principal amount outstanding   $ 700                     700  
Additional amount repayable to the principal amount   700                        
Repayment of notes   1,000                        
Convertible note | Malik                            
Related Party Transactions                            
Principal amount                         1,000  
Repayable amount $ 1,700 $ 1,700                        
Percentage of repayment of principal amount 175.00%                          
Principal amount outstanding $ 700                       700  
Additional amount repayable to the principal amount 700                          
Repayment of notes $ 1,000                          
Dental Innovations | Additional promissory note | Convertible Notes 2019                            
Related Party Transactions                            
Percentage of repayment of principal amount 175.00%                          
Dental Innovations | Original 2019 Note Purchase Agreement                            
Related Party Transactions                            
Principal amount                         5,000 5,000
Repayable amount       $ 8,700                 $ 8,700 8,750
Percentage of repayment of principal amount       175.00%                    
Additional amount repayable to the principal amount       $ 3,700                    
Interest rate (as a percent)       0.00%                 15.79%  
Dental Innovations | Original 2019 Note Purchase Agreement | Additional promissory note                            
Related Party Transactions                            
Principal amount           $ 5,000               $ 5,000
Dental Innovations | Original 2019 Note Purchase Agreement | Convertible note                            
Related Party Transactions                            
Principal amount of convertible promissory note           5,000                
Strathspey Crown Holdings Group, LLC ("SCH") | Additional promissory note | Convertible Notes 2019                            
Related Party Transactions                            
Principal amount $ 1,700         $ 1,000 $ 1,700   $ 1,700       $ 1,000  
Number of additional convertible promissory notes sold | item           1                
Interest rate (as a percent) 0.00%           15.79%   15.79%