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Stockholders' Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 12 Months Ended
Sep. 03, 2021
Mar. 06, 2020
Aug. 09, 2019
Mar. 28, 2019
Aug. 06, 2018
Jan. 31, 2021
Dec. 31, 2019
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Jan. 25, 2021
Class of Stock [Line Items]                      
Number of shares issued (in shares)           1,516,073          
Number of additional shares from warrants (in shares)             1,255,129     1,255,129  
Purchase price (in dollars per share)           $ 20.11          
Proceeds from sale of stock           $ 29,400          
Proceeds from the exercise of warrants             $ 6,900 $ 0 $ 1,861 $ 17,542  
Stock issuance costs           $ 900          
Preferred stock, shares authorized               2,000,000 2,000,000    
Preferred stock, par value (in dollars per share)               $ 0.001 $ 0.001    
Preferred stock issued during the period               $ 0 $ 25,000 10,000  
Deemed dividend on exchange of Series E Preferred Stock for common stock               1,104 0 $ 0  
Dividends accrued               $ 3,100 $ 2,900    
Series E preferred shares                      
Class of Stock [Line Items]                      
Number of shares issued (in shares)   25,000                  
Purchase price (in dollars per share)   $ 1,000                  
Preferred stock, shares authorized               39,500 39,500    
Preferred stock, par value (in dollars per share)   $ 0.001           $ 0.001 $ 0.001    
Preferred stock issued during the period   $ 25,000 $ 10,000                
Dividend rate     9.00%                
Redemption price     110.00%                
Liquidation preference per share (in dollars per share)     $ 1,000         $ 1,000 $ 1,000    
Number of shares sold   25,000 10,000                
Shares of preferred stock exchanged 10,000                    
Common stock                      
Class of Stock [Line Items]                      
Common stock issued in exchange for preferred stock 1,525,207                    
Series D Preferred Stock                      
Class of Stock [Line Items]                      
Preferred stock, shares authorized               150,000      
Canaccord Genuity LLC                      
Class of Stock [Line Items]                      
Equity Distribution Agreement, maximum aggregate amount authorized for offer or sale                     $ 40,000
2018 Warrants                      
Class of Stock [Line Items]                      
Number of shares issued (in shares)         12,062,000            
Number of additional shares from warrants (in shares)         4,221,700            
Proceeds from sale of stock         $ 19,700            
Exercise price per share (in dollars per share)       $ 2.52 $ 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              
Exercise price per share (in dollars per share)       $ 7.00