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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022
Income Tax Examination [Line Items] |  |
Net loss from continuing operations | $ (41,915,000) | $ (45,421,000)
Net loss from discontinued operation | (10,841,000) | (5,469,000)
Net loss | (52,785,000) | (50,894,000)
Valuation allowance | 65,375,000 | 59,057,000
Accrual for interest and penalties on unrecognized tax benefits | 0 | 0
Interest and/or penalties expense on unrecognized tax benefits | 0 | 0
Domestic Tax Authority |  |
Income Tax Examination [Line Items] |  |
Operating loss carryforwards | 236,697,000 |
Net operating losses subject to expiration | 85,674,000 |
Domestic Tax Authority | Research Tax Credit Carryforward |  |
Income Tax Examination [Line Items] |  |
Tax credit carryforward | 2,286,000 |
State and Local Jurisdiction |  |
Income Tax Examination [Line Items] |  |
Operating loss carryforwards | 133,099,000 |
Net operating losses not subject to expiration | 151,023,000 |
State and Local Jurisdiction | Research Tax Credit Carryforward |  |
Income Tax Examination [Line Items] |  |
Tax credit carryforward | 1,622,000 |
United States |  |
Income Tax Examination [Line Items] |  |
Net loss | $ (51,662,000) | $ (52,415,000)

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