Quarterly report pursuant to Section 13 or 15(d)

Description of Business and Basis of Presentation - Going Concern, and Liquidity and Capital Resources (Details)

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Description of Business and Basis of Presentation - Going Concern, and Liquidity and Capital Resources (Details) - USD ($)
Aug. 01, 2024
Jul. 01, 2024
Apr. 10, 2024
Aug. 02, 2024
Jun. 30, 2024
Apr. 15, 2024
Apr. 01, 2024
Dec. 31, 2023
Subsequent Event [Line Items]                
Accumulated deficit         $ 385,523,000     $ 357,037,000
Exercise Price per Warrant (in dollars per share)     $ 12.25          
Accounts receivable, net         8,338,000     9,583,000
Cash and short-term investments         3,200,000      
Accounts payable         $ 14,008,000     $ 15,854,000
Second Secured Notes                
Subsequent Event [Line Items]                
Secured Notes, Cash Payments to Note Holders           $ 5,500,000 $ 5,000,000  
Secured Notes, Aggregate Principal Amount, Repaid           $ 4,600,000 $ 4,200,000  
Class of Warrant or Right, Unissued             627,117  
Exercise Price per Warrant (in dollars per share)             $ 15.946  
Securities Purchase Agreement                
Subsequent Event [Line Items]                
Class of Warrant or Right, Unissued     979,592          
Exercise Price per Warrant (in dollars per share)     $ 12.25          
Proceeds from Issuance of Common Stock     $ 12,000,000          
Subsequent Event                
Subsequent Event [Line Items]                
Accounts receivable, net       $ 8,700,000        
Cash and short-term investments       1,100,000        
Accounts payable       17,500,000        
Secured Debt       $ 24,600,000        
Subsequent Event | Third Secured Notes                
Subsequent Event [Line Items]                
Securities purchase agreement, partial redemption payment   $ 10,500,000            
Redemption payment, start date   Aug. 01, 2024            
Redemption extended payment period, start date Aug. 16, 2024