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Stockholders' Equity - Series E Convertible Preferred Stock (Details) - $ / shares |  | 1 Months Ended |  |
--- | --- | --- | --- | ---
Jun. 15, 2020 | Oct. 31, 2022 | Jan. 31, 2022 | Nov. 30, 2021 | May 31, 2021 | Dec. 31, 2020 | Dec. 31, 2022 | Dec. 31, 2021
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Sale of stock, shares issued (in shares) |  |  |  | 2,400,000 | 2,000,000 |  |  |
Number of shares called by warrants (in shares) | 2,213,115 |  |  |  |  |  |  |
Months until exercisable | 6 months |  |  |  |  |  |  |
Exercise price of warrants (in dollars per share) | $ 3.05 |  |  |  |  |  |  |
Shares issued upon conversion (in shares) |  |  |  |  |  |  |  | 863,852
Conversion of stock, shares issued (in shares) |  | 1,342,250 | 1,342,357 |  |  |  |  |
Class Of Warrant Or Right, Issued | 184,426 |  |  |  |  |  |  |
Expiration term | 5 years 6 months |  |  |  |  |  |  |
Series N Warrant |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Months until exercisable | 6 months |  |  |  |  |  |  |
Exercise price of warrants (in dollars per share) | $ 2.39 |  |  |  |  |  |  |
Series E Convertible Preferred Stock |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Stated value (in dollars per share) | 10 |  |  |  |  |  |  |
Conversion price (in dollars per share) | $ 2.44 |  |  |  |  |  |  |
Shares converted (in shares) |  | 327,509 | 327,535 |  |  | 210,780 |  |
Preferred stock, shares outstanding (in shares) |  |  |  |  |  |  | 0 | 655,044
Registered Direct Offering |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Sale of stock, shares issued (in shares) | 1,984,328 |  |  |  |  |  |  |
Private Placement | Series E Convertible Preferred Stock |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Sale of stock, shares issued (in shares) | 865,824 |  |  |  |  |  |  |

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