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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