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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