Annual report pursuant to Section 13 and 15(d)

Fair Value Measurement - Summary of Changes in Fair Value of Level 3 Financial Liabilities on Recurring Basis (Details)

v3.23.1
Fair Value Measurement - Summary of Changes in Fair Value of Level 3 Financial Liabilities on Recurring Basis (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]    
Gain on revaluation of warrants issued in 2021, June 2020, December 2019, and May 2019 equity financings $ (1,317) $ (3,962)
Warrant Liability    
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]    
Beginning balance 1,550 6,037
Initial fair value of warrants in connection with 2021 financing   1,936
Gain on revaluation of warrants issued in 2021, June 2020, December 2019, and May 2019 equity financings (1,317) (3,962)
Reclassification of warrant liability to equity upon exercise of warrants   (2,461)
Ending balance $ 233 $ 1,550