Convertible Debt (Details) $ / shares in Units, shares in Thousands | | | | | | | | | | | | | | | | | | 12 Months Ended | | | | |
Dec. 20, 2023 USD ($) | Nov. 21, 2023 USD ($) | Oct. 05, 2023 $ / shares | Sep. 26, 2023 USD ($) $ / shares shares | Sep. 11, 2023 USD ($) $ / shares | Aug. 02, 2023 USD ($) $ / shares shares | Apr. 24, 2023 USD ($) $ / shares | Jan. 13, 2023 USD ($) | Dec. 31, 2022 USD ($) | Nov. 11, 2022 USD ($) shares | Nov. 10, 2022 USD ($) | Sep. 06, 2022 shares | Aug. 26, 2022 | Jul. 22, 2022 USD ($) $ / shares | Jul. 21, 2022 | Jul. 20, 2022 USD ($) $ / shares | May 10, 2022 shares | Dec. 31, 2023 USD ($) $ / shares | Dec. 31, 2023 USD ($) $ / shares | Dec. 31, 2023 USD ($) $ / shares shares | Dec. 31, 2023 USD ($) $ / shares | Dec. 31, 2023 USD ($) d $ / shares | Dec. 31, 2023 USD ($) tradingDay $ / shares | Dec. 31, 2022 USD ($) | Jun. 30, 2023 USD ($) $ / shares | Apr. 23, 2023 USD ($) | Nov. 09, 2022 $ / shares | Oct. 05, 2022 USD ($) |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Purchase price of common stock, percent | | | | | | | | | | | | | | 110% | 95% | 120% | | | | | 130.40% | | | | | | | |
Purchase share price (in dollars per share) | $ / shares | | | | | | | | | | | | | | | | | | $ 0.63 | $ 0.63 | $ 0.63 | $ 0.63 | $ 0.63 | $ 0.63 | | | | | |
Repayments on pre-paid purchase agreement | | | | | | | | | | $ 2,500,000 | | | | | | | | | $ 0 | | | | | $ 2,514,000 | | | | |
Loss on extinguishment of debt | | | | | | | | | | | | | | | | | | | 30,717,000 | | | | | 4,626,000 | | | | |
Other noncash income (expense) | | | | | | | | | | | | | | | | | | | (1,046,000) | | | | | 0 | | | | |
Non-cash debt discount | | | | | | | | | | | | | | | | | | | 2,571,000 | | | | | 900,000 | | | | |
Common Stock | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Purchase share price (in dollars per share) | $ / shares | | | | | | | | | | | | | | | | | | | | | | | | | | | $ 1.11 | |
Convertible Debt | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Purchase price of common stock, percent | | | | | | | 95% | | | | | | | | | | | | | | | | | | | | | |
Convertible Debt | Second Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt instrument exercise price (in dollars per share) | $ / shares | | | | | | | | | | | | | | | | | | | | | | | | | $ 0.67 | | | |
Convertible Debt | Third Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt instrument exercise price (in dollars per share) | $ / shares | | | | | | $ 0.67 | | | | | | | | | | | | | | | | | | | | | | |
Convertible Debt | Fourth Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt instrument exercise price (in dollars per share) | $ / shares | | | | $ 0.67 | | | | | | | | | | | | | | | | | | | | | | | | |
Convertible Debt | Yorkville Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Long-term debt | | | | | | $ 1,300,000 | | | | | | | | | | | | $ 1,300,000 | 1,300,000 | $ 1,300,000 | $ 1,300,000 | $ 1,300,000 | $ 1,300,000 | | | | | |
Loss on issuance of debt | | | | | | | | | | | | | | | | | | | (69,600,000) | | | | | | | | | |
Convertible debt, fair value | | | | | | | | | | | | | | | | | | $ 16,100,000 | 16,100,000 | $ 16,100,000 | $ 16,100,000 | $ 16,100,000 | $ 16,100,000 | | | | | |
Convertible Debt | Yorkville Warrants | Second Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Aggregate principal amount | | | | | | | | | | | | | | | | | | | | | | | | | $ 26,600,000 | | | |
Percentage of original issue discount | | | | | | | | | | | | | | | | | | | | | | | | | 6% | | | |
Convertible Debt | Yorkville Warrants | Third Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Aggregate principal amount | | | | | | $ 27,900,000 | | | | | | | | | | | | | | | | | | | | | | |
Additional aggregate principal amount | | | | | | | | | | | | | | | | | | | | | | | | | $ 53,200,000 | | | |
Unamortized discount, percent | | | | | | 6% | | | | | | | | | | | | | | | | | | | | | | |
Convertible Debt | Yorkville Warrants | Fourth Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Aggregate principal amount | | | | $ 15,000,000 | | | | | | | | | | | | | | | | | | | | | | | | |
Percentage of original issue discount | | | | 16.50% | | | | | | | | | | | | | | | | | | | | | | | | |
Principal amount, exercised | | | | $ 30,000,000 | | | | | | | | | | | | | | | | | | | | | | | | |
Convertible Debt | Yorkville Warrants | Common Stock | Third Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Purchase share price (in dollars per share) | $ / shares | | | | | | | | | | | | | | | | | | | | | | | | | $ 0.54 | | | |
Convertible Debt | Yorkville Warrants | Common Stock | Fourth Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Purchase share price (in dollars per share) | $ / shares | | | | $ 0.54 | | | | | | | | | | | | | | | | | | | | | | | | |
Convertible Debt | Yorkville Warrants | Common Stock | Minimum | Third Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Issuance of shares - SEPA and PIPE (in shares) | shares | | | | | | 49,600 | | | | | | | | | | | | | | | | | | | | | | |
Convertible Debt | Yorkville Warrants | Common Stock | Minimum | Fourth Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Issuance of shares - SEPA and PIPE (in shares) | shares | | | | 28,000 | | | | | | | | | | | | | | | | | | | | | | | | |
YA II PN, Ltd | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Pre-paid advance agreement, in cash advances | | | | | | | | | | | | | | | | $ 50,000,000 | | | | | | | | | | | | |
Pre-paid advance agreement, in commitment amount | | | | | | | | | | | | | | | | $ 300,000,000 | | | | | | | | | | | | |
Purchase share price (in dollars per share) | $ / shares | | | | | | | $ 0.14 | | | | | | | $ 0.50 | | $ 1 | | | | | | | | | | | | |
Number of trading days | d | | | | | | | | | | | | | | | | | | | | | | 5 | | | | | | |
Pre-paid advance agreement, annual rate | | | | | | | | | | | | | | | | | 5% | | | | | | | | | | | |
Pre-paid advance agreement, increase upon to default | | | | | | | | | | | | | | | | | 15% | | | | | | | | | | | |
Maturity period (in months) | | | | | | | | | | | | | | 15 months | | | | | | | | | | | | | | |
Loss on extinguishment of debt | | | | | | | | | | | | | | | | | | | (26,700,000) | | | | | | | | | |
Other noncash income (expense) | | | | | | | | | | | | | | | | | | | 500,000 | | | | | | | | | |
Interest expense | | | | | | | | | | | | | | | | | | | 100,000 | | | | | | | | | |
Non-cash debt discount | | | | | | | | | | | | | | | | | | | 5,500,000 | | | | | | | | | |
YA II PN, Ltd | Second Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Interest expense | | | | | | | | | | | | | | | | | | | 300,000 | | | | | | | | | |
YA II PN, Ltd | Third Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Interest expense | | | | | | | | | | | | | | | | | | | $ 300,000 | | | | | | | | | |
YA II PN, Ltd | Additional paid-in capital | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Amount allocated to convertible debt from option exercised | | | | | | | $ 3,700,000 | | | | | | | | | | | | | | | | | | | | | |
YA II PN, Ltd | First Pre Paid Advance Agreement | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Proceeds from PPA | | | | | | | | | | | | | | $ 49,500,000 | | | | | | | | | | | | | | |
YA II PN, Ltd | First Pre Paid Advance Agreement | Common Stock | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Issuance of shares - SEPA and PIPE (in shares) | shares | | | | | | | | | | | | 15,100 | | | | | | | | | | | | | | | | |
YA II PN, Ltd | Second Pre Paid Advance Agreement | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Proceeds from PPA | | | | | | | | | | | | | | $ 39,600,000 | | | | | | | | | | | | | | |
Prepaid advance agreement, discount percent | | | | | | | | | | | | | 0.010 | | | | | | | | | | | | | | | |
YA II PN, Ltd | Side Letter To Pre Paid Advance Agreement | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Pre-paid advance to minimum of settlement | | | | | | | | | | | | | | | | | | | | | | | | | | | | $ 1,000,000 |
YA II PN, Ltd | Third Pre Paid Advance Agreement | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Purchase price of common stock, percent | | | 111.20% | | | | | | | | | | | | | | | | | | | | | | | | | |
Purchase share price (in dollars per share) | $ / shares | | | $ 0.49 | | | | | | | | | | | | | | | | | | | | | | | | | |
Proceeds from PPA | | | | | | | | | | | $ 20,000,000 | | | | | | | | | | | | | | | | | |
YA II PN, Ltd | Fourth Pre Paid Advance Agreement | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Proceeds from PPA | | | | | | | | | $ 32,000,000 | | | | | | | | | | | | | | | | | | | |
Proceeds from additional amount of prepaid advance agreement | | | | | | | | | 8,500,000 | | | | | | | | | | | | | | | | | | | |
Proceeds from partial exercise prepaid advance agreement | | | | | | | | $ 5,300,000 | | | | | | | | | | | | | | | | | | | | |
Net proceeds from exercise in prepaid advance agreement | | | | | | | | $ 5,000,000 | | | | | | | | | | | | | | | | | | | | |
Aggregate fair value | | | | | | | | | 14,800,000 | | | | | | | | | | | | | | | $ 14,800,000 | | | | |
YA II PN, Ltd | Fourth Pre Paid Advance Agreement | Additional paid-in capital | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Amount allocated to convertible debt from option exercised | | | | | | | | | $ 2,300,000 | | | | | | | | | | | | | | | | | | | |
YA II PN, Ltd | Pre Paid Advance Agreement | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Redemption premium | | | | | | | | | | | | | | | | | | 3% | 3% | 3% | 3% | 3% | 3% | | | | | |
YA II PN, Ltd | Fifth Pre Paid Advance Agreement | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Proceeds from PPA | | | | | $ 12,500,000 | | | | | | | | | | | | | | | | | | | | | | | |
Amount allocated to convertible debt from option exercised | | | | | 6,000,000 | | | | | | | | | | | | | | | | | | | | | | | |
Loss on extinguishment of debt | | | | | | | | | | | | | | | | | | | $ 200,000 | | | | | | | | | |
Proceed from commitment fee and the purchase price discount provided for prepaid advance agreement | | | | | $ 11,800,000 | | | | | | | | | | | | | | | | | | | | | | | |
YA II PN, Ltd | Fifth Pre Paid Advance Agreement | Maximum | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Purchase share price (in dollars per share) | $ / shares | | | | | $ 0.50 | | | | | | | | | | | | | | | | | | | | | | | |
YA II PN, Ltd | Fifth Pre Paid Advance Agreement | Minimum | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Purchase share price (in dollars per share) | $ / shares | | | | | $ 0.10 | | | | | | | | | | | | | | | | | | | | | | | |
YA II PN, Ltd | Sixth Pre Paid Advance Agreement | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Proceeds from PPA | | $ 21,300,000 | | | | | | | | | | | | | | | | | | | | | | | | | | |
Proceed from commitment fee and the purchase price discount provided for prepaid advance agreement | $ 15,000,000 | $ 20,000,000 | | | | | | | | | | | | | | | | | | | | | | | | | | |
YA II PN, Ltd | Seventh Pre Paid Advance Agreement | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Proceeds from PPA | $ 16,000,000 | | | | | | | | | | | | | | | | | | | | | | | | | | | |
YA II PN, Ltd | Convertible Debt | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Purchase share price (in dollars per share) | $ / shares | | | | | | | $ 0.10 | | | | | | | | | | | | | | | | | | | | | |
Number of trading days | | | | | | | | | | | | | | | | | | | | | | 5 | 5 | | | | | |
Aggregate fair value | | | | | | $ 800,000 | $ 41,400,000 | | | | | | | | | | | $ 800,000 | 800,000 | $ 800,000 | $ 800,000 | $ 800,000 | $ 800,000 | | | $ 45,100,000 | | |
Number of consecutive trading days | tradingDay | | | | | | | | | | | | | | | | | | | | | | | 7 | | | | | |
Option, number of consecutive trading days | tradingDay | | | | | | | | | | | | | | | | | | | | | | | 3 | | | | | |
Option, number of trading days | tradingDay | | | | | | | | | | | | | | | | | | | | | | | 10 | | | | | |
Redemption premium | | | | | | | 5% | | | | | | | | | | | | | | | | | | | | | |
Aggregate principal amount | | | | | | | $ 48,000,000 | | | | | | | | | | | | | | | | | | | | | |
Percentage of original issue discount | | | | | | | 6% | | | | | | | | | | | | | | | | | | | | | |
Standby equity purchase agreement, exchange cap, maximum ownership amount | | | | | | | $ 95,400,000 | | | | | | | | | | | | | | | | | | | | | |
Stated interest rate | | | | | | | 1% | | | | | | | | | | | | | | | | | | | | | |
Debt instrument, interest rate, increase (decrease) | | | | | | | 15% | | | | | | | | | | | | | | | | | | | | | |
Debt instrument, term (in years) | | | | | | | | | | | | | | | | | | 14 years | | | | | | | | | | |
YA II PN, Ltd | April Convertible Debenture | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Purchase share price (in dollars per share) | $ / shares | | | | | | | $ 1 | | | | | | | | | | | | | | | | | | | | | |
YA II PN, Ltd | July Convertible Debenture | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Purchase share price (in dollars per share) | $ / shares | | | | | | | $ 0.50 | | | | | | | | | | | | | | | | | | | | | |
YA II PN, Ltd | July, August And September Convertible Debentures | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Stated interest rate | | | | | | | 3% | | | | | | | | | | | | | | | | | | | | | |
YA II PN, Ltd | Common Stock | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Exchange cap, maximum ownership percent | | | | | | | | | | | | | | | | | 19.90% | | | | | | | | | | | |
Issuance of shares - SEPA and PIPE (in shares) | shares | | | | | | | | | | | | | | | | | 14,200 | | | | | | | | | | | |
YA II PN, Ltd | Common Stock | Pre Paid Advance Agreement | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Issuance of shares - SEPA and PIPE (in shares) | shares | | | | | | | | | | 19,400 | | | | | | | | | | 66,800 | | | | | | | | |
YA II PN, Ltd | Common Stock | Fifth Pre Paid Advance Agreement | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Issuance of shares - SEPA and PIPE (in shares) | shares | | | | | | | | | | | | | | | | | | | | 26,600 | | | | | | | | |
YA II PN, Ltd | Common Stock | Convertible Debt | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Issuance of shares - SEPA and PIPE (in shares) | shares | | | | | | | | | | | | | | | | | | | | 95,400 | | | | | | | | |
Loss on extinguishment of debt | | | | | | | | | | | | | | | | | | | 3,500,000 | | | | | | | | | |
YA II PN, Ltd | Common Stock | Convertible Debt | Second Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Issuance of shares - SEPA and PIPE (in shares) | shares | | | | | | | | | | | | | | | | | | | | 101,600 | | | | | | | | |
Loss on extinguishment of debt | | | | | | | | | | | | | | | | | | | 1,400,000 | | | | | | | | | |
YA II PN, Ltd | Common Stock | Convertible Debt | Third Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Issuance of shares - SEPA and PIPE (in shares) | shares | | | | | | | | | | | | | | | | | | | | 97,600 | | | | | | | | |
Loss on extinguishment of debt | | | | | | | | | | | | | | | | | | | $ 1,200,000 | | | | | | | | | |
YA II PN, Ltd | A75 Series B Cumulative Perpetual Redeemable Preferred Stock | Convertible Debt | Fourth Convertible Debentures and Warrants | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion [Line Items] | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
Issuance of shares - SEPA and PIPE (in shares) | shares | | | | | | | | | | | | | | | | | | | | 0 | | | | | | | | |