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Stockholders' Equity - Outstanding Warrants from the January 2020 Equity Offering (Details) - $ / shares | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Jun. 30, 2021
January 2020 Equity Offering |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of warrants issued (in shares) | 229,414 | 229,414 |
Exercise price of warrants (in dollars per share) | $ 3.67 |  |
Investor Warrants |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of warrants issued (in shares) | 187,734 | 187,734 |
Sale of common stock (in dollars per share) |  |  | $ 5.05
January 2020 Equity Offering, Private Placement |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of warrants issued (in shares) | 41,680 | 41,680 |
Exercise price of warrants (in dollars per share) | $ 4.9940 |  |
January 2020 Institutional Investor |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Sale of common stock (in dollars per share) | $ 3.3700 |  |

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