Basis of Presentation and Summary of Significant Accounting Policies - Narrative (Details) - USD ($)			3 Months Ended		9 Months Ended
	Jul. 20, 2023	Apr. 13, 2023	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Jun. 16, 2022
Debt Instrument [Line Items]
Accumulated deficit			$ 443,132,000		$ 443,132,000		$ 376,797,000
Net loss			15,829,000	$ 13,311,000	66,335,000	$ 38,740,000
Net cash outflows from operations					45,910,000	34,339,000
Cash			53,317,000		53,317,000		$ 7,065,000
Working capital			$ 14,900,000		$ 14,900,000
ELOC, right to sell common stock (in shares)								$ 150,000,000
Common stock, par value (in usd per share)			$ 0.0001		$ 0.0001		$ 0.0001	$ 0.0001
ELOC, ownership restriction percentage								9.90%
ELOC, floor stock price (in usd per share)								$ 1.00
Proceeds from stock issuance					$ 61,300,000
Issuance of stock (in shares)					39,487,104
Premium payment, percentage of amount prepaid from common stock issuance proceeds	10.00%
Unrealized gain on term loan			$ (1,701,000)	0	$ (1,356,000)	0
Marketable investments			$ 1,200,000		$ 1,200,000		$ 1,200,000
Warrants, quoted price (in usd per share)			$ 0.11		$ 0.11
Warrants outstanding (in shares)			17,916,606		17,916,606
SR&ED investment tax credit			$ 0	$ 0	$ 0	$ 100,000
Term Loan | Line of credit
Debt Instrument [Line Items]
Face amount		$ 50,000,000.0
Non-dilutive financing		$ 25,000,000.0
Premium payment, percentage of amount prepaid from common stock issuance proceeds		10.00%
Unrealized gain on term loan			$ (1,700,000)		$ (1,400,000)
Term Loan | Line of credit | Debt tranche one
Debt Instrument [Line Items]
Face amount		$ 15,000,000.0
Term Loan | Line of credit | Debt tranche three
Debt Instrument [Line Items]
Face amount		$ 20,000,000.0