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Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  |  |  |  | 1 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, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Jan. 25, 2021
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares issued (in shares) |  |  |  |  |  | 1,516,073 |  |  |  |
Purchase price (in dollars per share) |  |  |  |  |  | $ 20.11 |  |  |  |
Proceeds from sale of stock |  |  |  |  |  | $ 29,400 |  |  |  |
Proceeds from the exercise of warrants |  |  |  |  |  |  | $ 0 | $ 0 | $ 1,861 |
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 |  |
Deemed dividend on exchange of Series E Preferred Stock for common stock |  |  |  |  |  |  | $ 0 | $ 1,104 | 0 |
Gross proceeds received from issuance of Series E preferred stock |  |  |  |  |  |  | $ 0 | $ 0 | 25,000 |
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 |  |
Shares of preferred stock exchanged | 10,000 |  |  |  |  |  |  |  |  |
Gross proceeds received from issuance of Series E preferred stock |  | $ 25,000 |  |  |  |  |  |  |  |
Dividends accrued |  |  |  |  |  |  | $ 9,100 | $ 6,400 | $ 3,300 |
Dividend rate |  |  | 9.00% |  |  |  |  |  |  |
Redemption price |  |  | 110.00% |  |  |  |  |  |  |
Liquidation preference per share (in dollars per share) |  |  | $ 1,000 |  |  |  | $ 1,000 | $ 1,000 |  |
Preferred Stock, Per Share Amounts of Preferred Dividends in Arrears |  |  |  |  |  |  | $ 365.60 | $ 256.16 | $ 130.60 |
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 |  |  |  |  |  |

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