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Stockholders' Equity - Common stock (Details) - USD ($)
 2 Months Ended 4 Months Ended 9 Months Ended 12 Months Ended 16 Months Ended
Sep. 09, 2022
Aug. 02, 2022
May 16, 2022
Jan. 14, 2022
Feb. 26, 2024
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2022
Sep. 30, 2020
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2023
Oct. 31, 2023
Aug. 18, 2023
Aug. 17, 2022
Jul. 14, 2022
Class of Stock [Line Items]                                
Issue and sale of stock, net                   $ 5,005,000 $ 15,278,000          
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                   $ 5,527,000 $ 15,832,000          
Common Stock [Member]                                
Class of Stock [Line Items]                                
Issue and sale of share                   2,230,493 1,206,090          
Issue and sale of stock, net                   $ 3,000 $ 1,000          
Number of stock repurchased                   78,559            
Treasury stock           $ 126,000       $ 126,000   $ 126,000        
Common Stock [Member] | Subsequent Event [Member]                                
Class of Stock [Line Items]                                
Number of stock repurchased         168,015                      
Treasury stock         $ 340,000                      
Common Stock [Member] | Maximum [Member]                                
Class of Stock [Line Items]                                
Authorized amount of repurchase of stock                         $ 500,000      
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                            
Issue and sale of share           150,000   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]                                
Maximum value of shares to be issued under agreement                 $ 25,000,000              
Issue and sale of share                       527,166        
Issue and sale of stock, net                     377,666          
Period exercisable from the date of issuance                 36 months              
Proceeds from sale of common stock, net                     $ 7,000,000          
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]                                
Issue and sale of share             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]                                
Issue and sale of share                     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