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Stockholders' Equity - Preferred Stock (Details) - $ / shares
 9 Months Ended 12 Months Ended
Sep. 21, 2021
Sep. 20, 2021
Sep. 30, 2021
Dec. 31, 2020
Class of Stock [Line Items]        
Preferred stock, shares authorized (in shares)     5,000,000 5,000,000
Preferred stock, par value (in dollars per share)     $ 0.001 $ 0.001
Preferred stock, shares outstanding (in shares)     1,952 1,954
Series A Convertible Preferred Stock [Member]        
Class of Stock [Line Items]        
Preferred stock, shares outstanding (in shares)   0   0
Convertible preferred stock   3.60%   3.60%
Series A 3.6% Convertible preferred stock eliminated date Sep. 21, 2021      
Series B Convertible Preferred Stock [Member]        
Class of Stock [Line Items]        
Preferred stock, shares outstanding (in shares)     1,014 1,016
Series B Convertible Preferred Stock [Member] | 2018 Rights Offering [Member]        
Class of Stock [Line Items]        
Preferred stock, shares outstanding (in shares)     1,014  
Number of preferred stock, shares converted     5,978  
Series C Convertible Preferred Stock [Member]        
Class of Stock [Line Items]        
Preferred stock, shares outstanding (in shares)     938 938
Series C Convertible Preferred Stock [Member] | 2018 Rights Offering [Member]        
Class of Stock [Line Items]        
Preferred stock, shares outstanding (in shares)     938  
Number of preferred stock, shares converted     416,889