Mandatory Redeemable Preferred Stock and Stockholders' Equity (Deficit) - Summary of our Outstanding and Exercisable Warrants and Related Transactions (Details) - Warrant [Member] - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Class Of Warrant Or Right [Line Items]
Beginning balance, Warrants	103	131
Granted, Warrants	436	0
Exercised, Warrants		(23)
Expired, Warrants	(3)	(5)
Ending balance, Warrants	536	103	131
Beginning balance, Weighted Average Exercise Price	$ 76.19	$ 77.50
Granted, Weighted Average Exercise Price	0.14
Exercised, Weighted Average Exercise Price		15.50
Expired, Weighted Average Exercise Price	341.50	395.00
Ending balance, Weighted Average Exercise Price	$ 13.10	$ 76.19	$ 77.50
Warrants, Aggregate Intrinsic Value	$ 2,427		$ 1,041
Exercised, Weighted Average Exercise Price		$ 1,146
Warrants, Weighted Average Remaining Contractual Life (in Years)	9 years 3 months 18 days	8 years 3 months 18 days	7 years 3 months 18 days