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Private Placements and Public Offering (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Sep. 03, 2021
May 12, 2020
Mar. 31, 2020
Mar. 06, 2020
Mar. 28, 2019
Aug. 06, 2018
Jan. 31, 2021
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Jan. 25, 2021
Dec. 31, 2020
Class of Stock [Line Items]                        
Number of shares issued (in shares)             1,516,073          
Common stock, par value (in dollars per share)                 $ 0.001     $ 0.001
Proceeds from the exercise of warrants               $ 1,900 $ 0 $ 1,861    
Exercise of warrants (shares)               338,454        
Proceeds from sale of stock             $ 29,400          
Purchase price (in dollars per share)             $ 20.11          
Preferred stock issued during the period                 0 25,000    
Payments repurchase of preferred stock                 0 2,354    
Deemed dividend on exchange of Series E Preferred Stock for common stock                 $ 1,104 $ 0    
2018 Warrants                        
Class of Stock [Line Items]                        
Number of shares issued (in shares)           12,062,000            
Common stock, par value (in dollars per share)           $ 0.001            
Number of additional shares from warrants (in shares)           4,221,700            
Initial exercise price of warrants (in dollars per share)         $ 2.52              
Proceeds from the exercise of warrants         $ 10,600              
2019 Warrants                        
Class of Stock [Line Items]                        
Number of additional shares from warrants (in shares)         2,500,000              
Initial exercise price of warrants (in dollars per share)         $ 7.00              
Canaccord Genuity LLC                        
Class of Stock [Line Items]                        
Equity Distribution Agreement, maximum aggregate amount authorized for offer or sale                     $ 40,000  
Series E preferred stock                        
Class of Stock [Line Items]                        
Issuance of shares (shares)       25,000                
Preferred stock issued during the period       $ 25,000                
Stock repurchased (in shares)   2,330                    
Payments repurchase of preferred stock   $ 2,400                    
Shares of preferred stock exchanged 10,000                      
Series E preferred stock | South Ocean Funding LLC                        
Class of Stock [Line Items]                        
Issuance of shares (shares)     2,330                  
Common shares                        
Class of Stock [Line Items]                        
Common stock issued in exchange for preferred stock 1,525,207