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Stockholders' Equity - Common stock (Details) - USD ($)
 2 Months Ended 3 Months Ended 4 Months Ended 7 Months Ended 9 Months Ended 12 Months Ended 16 Months Ended 19 Months Ended
Mar. 08, 2024
Sep. 09, 2022
Aug. 02, 2022
May 16, 2022
Jan. 14, 2022
Feb. 26, 2024
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2022
Mar. 31, 2024
Sep. 30, 2020
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2023
Mar. 31, 2024
Oct. 31, 2023
Aug. 18, 2023
Aug. 17, 2022
Jul. 14, 2022
Class of Stock [Line Items]                                          
Sale of common stock, net $ 2,500,000             $ 895,000           $ 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   100,000,000 100,000,000 100,000,000 100,000,000        
Proceeds from sale of common stock, net               $ 895,000           $ 5,527,000 $ 15,832,000            
Remained authorized amount for repurchase             $ 0         $ 0         $ 0        
Common Stock [Member]                                          
Class of Stock [Line Items]                                          
Issue and sale of share               168,164           2,230,493 1,206,090            
Sale of common stock, net                           $ 3,000 $ 1,000            
Number of stock repurchased             179,866             78,559              
Treasury stock             $ 400,000   $ 126,000     $ 400,000   $ 126,000   $ 126,000 $ 400,000        
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             0   150,000 266,666   150,000   410,500              
Period exercisable from the date of issuance             36 months             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                               527,166 527,166        
Sale of common 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                           460,151 460,151            
Proceeds from sale of common stock, net                           $ 4,800,000 $ 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