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Stockholders' Equity - Schedule of Warrants (Details) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Warrants      
Balance of warrants outstanding at the beginning of the period (in shares) 4,360,968 4,490,159  
Expired (in shares) (1,553,020) (129,191)  
Balance of warrants outstanding at the end of the period (in shares) 2,807,948 4,360,968 4,490,159
Weighted-Average Exercise Price Per Share      
Weighted average exercise price of warrants at the beginning of the period (in dollars per share) $ 5.33 $ 5.80  
Expired (in dollars per share) 10.54 21.60  
Weighted average exercise price of warrants at the end of the period (in dollars per share) $ 2.45 $ 5.33 $ 5.80
Weighted-Average Remaining Contractual Term      
Weighted-Average Remaining Contractual Term 1 year 10 months 24 days 2 years 1 month 6 days 3 years