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Stockholders' Equity - Common stock (Details) - USD ($)
 3 Months Ended 4 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Sep. 09, 2022
Aug. 02, 2022
May 16, 2022
Jan. 14, 2022
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2022
Dec. 31, 2022
Jun. 30, 2023
Jun. 30, 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         $ 1,328,000 $ 895,000 $ 152,000 $ 7,742,000                    
Common stock, shares authorized (in shares)         100,000,000       100,000,000 100,000,000 100,000,000     100,000,000        
Proceeds from sale of common stock, net                     $ 2,258,000 $ 7,725,000            
Common Stock [Member]                                    
Class of Stock [Line Items]                                    
Sale of common stock, net         $ 1,000                          
Common stock issued (in shares)         472,674 168,164 18,070 445,841                    
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)                   266,666 260,500              
Period exercisable from the date of issuance                     36 months              
Number of maximum common shares can be resale                               633,333    
Initial commitment shares   32,846                               32,846
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 $ 700,000              
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                               600,486    
2020 Purchase Agreement [Member] | Lincoln Park Capital Fund, LLC [Member] | Common Stock [Member]                                    
Class of Stock [Line Items]                                    
Sale of common stock, net                           $ 377,666 $ 379,012      
Maximum value of shares to be issued under agreement                         $ 25,000,000.0          
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)                 68,758   380,338              
Proceeds from sale of common stock, net                 $ 600,000   $ 1,500,000              
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)                           460,151        
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