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Capital Stock and Warrants - Preferred Stock (Details) |  |  |  |  | 1 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Jun. 15, 2020 USD ($) | May 21, 2019 USD ($) | Jul. 11, 2018 USD ($) $ / shares shares | Dec. 23, 2016 shares | Jun. 30, 2019 USD ($) $ / shares shares | Jan. 31, 2017 USD ($) $ / shares | Dec. 31, 2023 USD ($) $ / shares shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($) | Dec. 31, 2019 USD ($) | Dec. 31, 2018 USD ($) $ / shares shares | Dec. 31, 2017 USD ($) $ / shares shares | Feb. 28, 2018 shares | Jan. 31, 2018 $ / shares shares
Capital Stock and Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, par value (in dollars per share) | $ / shares |  |  |  |  | $ 0.001 |  | $ 0.001 | $ 0.001 |  |  |  |  |  |  |
Preferred stock, shares issued | shares |  |  |  |  |  |  | 9,499,083 | 11,351,841 |  |  |  |  |  |  |
Proceeds Net of Issuance Costs |  |  |  |  |  |  | $ 34,203,000 |  |  |  |  |  |  |  |
Share conversion costs |  |  |  |  |  |  | (9,000) | $ (74,000) |  |  |  |  |  |  |
Series A Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds Net of Issuance Costs |  |  |  |  |  |  | 614,000 |  |  |  |  |  |  |  |
Series B Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds Net of Issuance Costs |  |  |  |  |  |  | 7,098,000 |  |  |  |  |  |  |  |
Series m Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum number of shares offered to accredited and Non-accredited investors | shares |  |  |  | 6,666,666 |  |  |  |  |  |  |  |  |  |  |
Maximum amount of stock offered as per regulations |  |  |  |  |  | $ 20,000,000 |  |  |  |  |  |  |  |  |
Per share value | $ / shares |  |  |  |  |  | $ 3.00 |  |  |  |  |  |  |  |  |
Number of preferred stocks converted into other series of preferred stock | shares |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,327,423 |
Proceeds Net of Issuance Costs |  |  |  |  |  |  | 4,621,000 |  |  |  |  |  | $ 18,200,000 |  |
Preferred stock, conversion ratio |  |  |  |  |  |  |  |  |  |  |  |  |  | 1 |
Series m-2 Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, par value (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.001
Per share value | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 3.00
Preferred stock, shares issued | shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 333,333
Proceeds Net of Issuance Costs |  |  |  |  |  |  | 480,000 |  |  |  |  |  |  |  |
Preferred stock, conversion ratio |  |  |  |  |  |  |  |  |  |  |  |  |  | 1 |
Series m-3 Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, par value (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  | $ 0.001 | $ 0.001 |  |
Per share value | $ / shares |  |  |  |  |  |  |  |  |  |  |  | $ 3.50 | $ 3.50 |  |
Preferred stock, shares issued | shares |  |  |  |  |  |  |  |  |  |  |  | 410,972 | 1,038,571 |  |
Proceeds Net of Issuance Costs |  |  |  |  |  |  |  |  |  |  |  | $ 1,400,000 | $ 3,600,000 |  |
Series m-3 Preferred Stock | Convertible Note Liabilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, repurchased as exchange upon conversion | shares |  |  |  |  | 1,432,786 |  |  |  |  |  |  |  |  |  |
Series m-4 Preferred Stock | Convertible Note Liabilities |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, shares issued upon conversion | shares |  |  |  |  | 1,432,786 |  |  |  |  |  |  |  |  |  |
Preferred stock, dividend rate |  |  |  |  | 12.00% |  |  |  |  |  |  |  |  |  |
Preferred stock, interest expense |  |  |  |  | $ 900,000 |  |  |  |  |  |  |  |  |  |
Series S Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds Net of Issuance Costs |  |  |  |  |  |  | $ 21,390,000 |  |  |  |  |  |  |  |
Series S Preferred Stock | Regulation D Offering |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum number of shares offered to accredited and Non-accredited investors | shares |  |  | 6,250,000 |  |  |  |  |  |  |  |  |  |  |  |
Maximum amount of stock offered as per regulations |  |  | $ 50,000,000 |  |  |  |  |  |  |  |  |  |  |  |
Proceeds Net of Issuance Costs |  |  |  |  |  |  |  |  |  |  | $ 1,000,000 |  |  |  |
Preferred stock, conversion price per share | $ / shares |  |  | $ 8.00 |  |  |  |  |  |  |  |  |  |  |  |
Share conversion costs |  |  |  |  |  |  |  |  |  |  | (3,000,000) |  |  |  |
Expected proceeds from redeemable preferred stock | $ 50,000,000 |  |  |  |  |  |  |  |  |  | $ 3,800,000 |  |  |  |
Series S Preferred Stock | 2020 Regulation A Offering |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum amount of stock offered as per regulations | $ 25,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Expected proceeds from redeemable preferred stock |  |  |  |  |  |  |  |  |  | $ 2,500,000 |  |  |  |  |
Series S Preferred Stock | 2019 Regulation A Offering |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Capital Stock and Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum amount of stock offered as per regulations |  | $ 50,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Share conversion costs |  |  |  |  |  |  |  |  | $ (4,600,000) |  |  |  |  |  |
Expected proceeds from redeemable preferred stock |  |  |  |  |  |  |  |  | $ 44,600,000 |  |  |  |  |  |

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