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Summary of Outstanding Warrants (Details)
 12 Months Ended
Dec. 31, 2021
USD ($)
$ / shares
shares
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Number of Warrants | shares 1,287,404
Weighted average exercise price $ 4.15
Remaining term in years 1 year 5 months 19 days
Intrinsic value at date of grant | $
Minimum [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Exercise price per share $ 3.12
Maximum [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Exercise price per share 9.10
Warrant [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Weighted average exercise price $ 7.49
Warrant [Member] | Settlement of Deferred Compensation [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Number of Warrants | shares 243,815
Weighted average exercise price $ 6.32
Remaining term in years 2 years 8 months 26 days
Intrinsic value at date of grant | $
Warrant [Member] | Settlement Of Service [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Number of Warrants | shares 10,550
Weighted average exercise price $ 4.15
Remaining term in years 7 months 13 days
Intrinsic value at date of grant | $
Warrant [Member] | Minimum [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Exercise price per share $ 3.25
Warrant [Member] | Minimum [Member] | Settlement of Deferred Compensation [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Exercise price per share 3.51
Warrant [Member] | Minimum [Member] | Settlement Of Service [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Exercise price per share 3.12
Warrant [Member] | Maximum [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Exercise price per share 5.46
Warrant [Member] | Maximum [Member] | Settlement of Deferred Compensation [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Exercise price per share 9.10
Warrant [Member] | Maximum [Member] | Settlement Of Service [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Exercise price per share $ 5.46
Warrant [Member] | Private Placements of Common Stock [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Number of Warrants | shares 818,683
Weighted average exercise price $ 7.65
Remaining term in years 1 year 3 months 10 days
Intrinsic value at date of grant | $
Warrant [Member] | Private Placements of Common Stock [Member] | Minimum [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Exercise price per share $ 6.89
Warrant [Member] | Private Placements of Common Stock [Member] | Maximum [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Exercise price per share $ 7.80
Warrant [Member] | Private Placement of Notes [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Number of Warrants | shares 214,356
Weighted average exercise price $ 8.39
Remaining term in years 9 months 3 days
Intrinsic value at date of grant | $
Warrant [Member] | Private Placement of Notes [Member] | Minimum [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Exercise price per share $ 7.80
Warrant [Member] | Private Placement of Notes [Member] | Maximum [Member]  
Accumulated Other Comprehensive Income (Loss) [Line Items]  
Exercise price per share $ 9.10