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Condensed Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares
3 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Condensed Consolidated Statements of Stockholders' Equity            
Share price of shares issued upon exercise of options (in dollars per share)   $ 0.54        
Common stock for options exercise, 0.89 per share issue           $ 0.89
Common stock for options exercise, 2.93 per share issue           2.93
Shares issued through at the market issuance 1.24 average per share           1.24
Shares issued through at the market issuance 1.71 average per share         $ 1.71  
Share price of common stock issued for services (in dollars per share) $ 0.66 $ 0.66 $ 0.66 $ 1.93 1.93 $ 1.93
Share price of shares issued in stock offering (in dollars per share)         $ 1.11  
Share price of shares issued upon cashless exercise of options (in dollars per share)       0.89    
Share price of shares issued pursuant to purchase right (in dollars per share)       $ 1.11