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Liquidity and Going Concern - Additional Information (Details) - USD ($)
 3 Months Ended
Mar. 08, 2024
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Net loss   $ (3,261,000) $ (4,805,000)    
Accumulated deficit   (483,762,000)   $ (480,501,000)  
Net cash used in operating activities   (4,513,000) (5,793,000)    
Stockholders' deficit   $ (4,837,000) 2,676,000 $ (1,348,000) $ 6,445,000
Stockholders' equity requirement $ 2,500,000   $ 895,000    
Net income from continuing operations 500,000        
Maintain minimum market value of listed securities $ 35,000,000