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Stockholders' Equity - Common stock (Details) - USD ($)
 3 Months Ended 4 Months Ended 9 Months Ended 12 Months Ended
Sep. 09, 2022
Aug. 02, 2022
May 16, 2022
Jan. 14, 2022
Mar. 31, 2023
Mar. 31, 2022
Apr. 18, 2023
Dec. 31, 2022
Dec. 31, 2022
Sep. 30, 2020
Dec. 31, 2022
Dec. 31, 2021
Aug. 17, 2022
Aug. 15, 2022
Jul. 14, 2022
Class of Stock [Line Items]                              
Sale of common stock, net         $ 895,000 $ 7,742,000                  
Common stock, shares authorized (in shares)         100,000,000     100,000,000 100,000,000   100,000,000        
Proceeds from sale of common stock, net         $ 895,000 7,694,000                  
Common Stock [Member]                              
Class of Stock [Line Items]                              
Sale of common stock, net         $ 2,000 $ 6,000                  
Common stock issued (in shares)         2,522,460 6,687,610                  
Number of stock repurchased         0                    
Common Stock [Member] | Minimum [Member]                              
Class of Stock [Line Items]                              
Authorized amount of repurchase of stock                           $ 2,000,000.0  
2022 Purchase Agreement [Member] | Lincoln Park Capital Fund, LLC [Member] | Maximum [Member]                              
Class of Stock [Line Items]                              
Common stock, shares authorized (in shares)     57,500,000                        
2022 Purchase Agreement [Member] | Lincoln Park Capital Fund, LLC [Member] | Common Stock [Member]                              
Class of Stock [Line Items]                              
Maximum value of shares to be issued under agreement   $ 50,000,000.0                          
Common stock issued (in shares)         0     4,000,000              
Period exercisable from the date of issuance         36 months                    
Number of maximum common shares can be resale                         9,500,000    
Initial commitment shares   492,698                         492,698
Initial commitment fee paid in cash   $ 125,000                          
Aggregate gross proceeds from sales of common stock   $ 25,000,000.0                          
Proceeds from sale of common stock, net               $ 3,200,000              
2022 Purchase Agreement [Member] | Lincoln Park Capital Fund, LLC [Member] | Common Stock [Member] | Minimum [Member]                              
Class of Stock [Line Items]                              
Percentage issuance of common stock     19.99%                        
2022 Purchase Agreement [Member] | Lincoln Park Capital Fund, LLC [Member] | Common Stock [Member] | Maximum [Member]                              
Class of Stock [Line Items]                              
Number of shares reserved for issuance and sale                         9,007,302    
2020 Purchase Agreement [Member] | Lincoln Park Capital Fund, LLC [Member] | Common Stock [Member]                              
Class of Stock [Line Items]                              
Sale of common stock, net                       $ 5,685,186      
Maximum value of shares to be issued under agreement                   $ 25,000,000.0          
Common stock issued (in shares)                     5,665,000        
Period exercisable from the date of issuance                   36 months          
Proceeds from sale of common stock, net                     $ 7,000,000.0 $ 12,500,000      
Remaining common stock issued and sold (in shares)               0 0   0        
September 2022 Distribution Agreement [Member] | Canaccord Genuity LLC [Member] | At The Market Offering Program [Member]                              
Class of Stock [Line Items]                              
Reimburse of fee and disbursements expenses $ 50,000                            
September 2022 Distribution Agreement [Member] | Canaccord Genuity LLC [Member] | Common Stock [Member] | At The Market Offering Program [Member]                              
Class of Stock [Line Items]                              
Common stock issued (in shares)                 1,031,371            
Proceeds from sale of common stock, net                 $ 600,000            
September 2022 Distribution Agreement [Member] | Canaccord Genuity LLC [Member] | Common Stock [Member] | At The Market Offering Program [Member] | Subsequent Event [Member]                              
Class of Stock [Line Items]                              
Common stock issued (in shares)             3,136,058                
Proceeds from sale of common stock, net             $ 1,100,000                
September 2022 Distribution Agreement [Member] | Canaccord Genuity LLC [Member] | Common Stock [Member] | Maximum [Member] | At The Market Offering Program [Member]                              
Class of Stock [Line Items]                              
Proceeds from sale of common stock, net $ 5,000,000                            
Percentage of commission on gross proceeds from sale of common stock 3.00%                            
January 2022 Distribution Agreement [Member] | Canaccord Genuity LLC [Member] | Common Stock [Member]                              
Class of Stock [Line Items]                              
Common stock issued (in shares)                     6,902,279        
Proceeds from sale of common stock, net                     $ 4,800,000        
January 2022 Distribution Agreement [Member] | Canaccord Genuity LLC [Member] | Common Stock [Member] | At The Market Offering Program [Member]                              
Class of Stock [Line Items]                              
Remaining availability under financing facility       $ 0                      
January 2022 Distribution Agreement [Member] | Canaccord Genuity LLC [Member] | Common Stock [Member] | Maximum [Member] | At The Market Offering Program [Member]                              
Class of Stock [Line Items]                              
Proceeds from sale of common stock, net       $ 5,000,000