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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