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Stockholders' Equity - Common stock (Details) - USD ($)
 3 Months Ended 4 Months Ended 9 Months Ended 12 Months Ended 13 Months Ended
Sep. 09, 2022
Aug. 02, 2022
May 16, 2022
Jan. 14, 2022
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2022
Dec. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2020
Dec. 31, 2022
Dec. 31, 2021
Sep. 30, 2023
Aug. 18, 2023
Aug. 17, 2022
Jul. 14, 2022
Class of Stock [Line Items]                                          
Sale of common stock, net         $ 2,956,000 $ 1,328,000 $ 895,000 $ 6,815,000 $ 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   100,000,000      
Proceeds from sale of common stock, net                         $ 5,180,000 $ 14,558,000              
Common Stock [Member]                                          
Class of Stock [Line Items]                                          
Sale of common stock, net         $ 2,000 $ 1,000   $ 1,000                          
Common stock issued (in shares)         1,589,655 472,674 168,164 673,421 18,070 445,840                      
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                                      
Common stock issued (in shares)                     266,666   410,500                
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                                      
Proceeds from sale of common stock, net                     $ 3,200,000   $ 1,000,000                
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 maximum common shares can be resale                                     1,500,000    
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            
Common stock issued (in shares)                                   527,166      
Period exercisable from the date of issuance                             36 months            
Proceeds from sale of common stock, net                               $ 7,000,000 $ 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 1,819,993                
Proceeds from sale of common stock, net                       $ 600,000 $ 4,300,000                
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