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Stockholders' Equity - Schedule of Warrants (Details) - $ / shares | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Number of Warrants |  |  |
Balance of warrants outstanding at the beginning of the period (in shares) | 4,490,159 | 5,260,992 |
Exercised (in shares) |  | (770,833) |
Expired (in shares) | (129,191) |  |
Balance of warrants outstanding at the end of the period (in shares) | 4,360,968 | 4,490,159 | 5,260,992
Weighted-Average Exercise Price Per Share |  |  |
Weighted average exercise price of warrants at the beginning of the period (in dollars per share) | $ 5.80 | $ 5.19 |
Exercised (in dollars per share) |  | 1.64 |
Expired (in dollars per share) | 21.60 |  |
Weighted average exercise price of warrants at the end of the period (in dollars per share) | $ 5.33 | $ 5.80 | $ 5.19
Weighted-Average Remaining Contractual Term |  |  |
Weighted-Average Remaining Contractual Term | 2 years 1 month 6 days | 3 years | 4 years 1 month 6 days

X
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- References No definition available. + Details
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- Definition No definition available + References No definition available. + Details
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- Definition Warrants, Weighted Average Contractual Term + References No definition available. + Details
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- Definition Number of warrants or rights outstanding. + References No definition available. + Details
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