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Stockholders' Equity - January 2020 Equity Offering (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Offering costs paid on the issuance of common stock and warrants | $ (334,000) | $ (969,000)
Issuance of common stock upon the exercise of warrants (in shares) |  | 237,892
Proceeds from the exercise of warrants | $ 0 | $ 801,000
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 |
Issuance of common stock upon the exercise of warrants (in shares) | 0 |
Proceeds from the exercise of warrants | $ 0 | $ 801,000
Estimated proceeds from issuance of warrants | $ 841,000 |

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