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Liquidity and Going Concern - Additional Information (Details) - USD ($)
 3 Months Ended 12 Months Ended
Mar. 08, 2024
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
May 09, 2024
Dec. 31, 2021
New Accounting Pronouncements or Change in Accounting Principle [Line Items]              
Net loss   $ (3,261,000) $ (4,805,000) $ (13,316,000) $ (20,275,000)    
Accumulated deficit   (483,762,000)   (480,501,000) (467,185,000)    
Net cash used in operating activities   (4,513,000) (5,793,000) (12,851,000) (12,972,000)    
Stockholders' deficit   $ (4,837,000) 2,676,000 (1,348,000) 6,445,000   $ 10,836,000
Stockholders' equity requirement $ 2,500,000   $ 895,000 $ 5,005,000 $ 15,278,000    
Net income from continuing operations 500,000            
Maintain minimum market value of listed securities $ 35,000,000            
Private Placement [Member]              
New Accounting Pronouncements or Change in Accounting Principle [Line Items]              
Warrants And Rights Outstanding           $ 7,250,000