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Stockholders' Equity - January 2020 Equity Offering (Details) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 3 Months Ended
--- | --- | ---
Jan. 31, 2020 | Mar. 31, 2023 | Mar. 31, 2022
Jan. 2020 Investor Warrants |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Sale of common stock (in shares) | 688,360 |  |
Sale of common stock (USD per share) | $ 3.37 | $ 3.3700 |
Securities called by warrants (in shares) | 688,360 |  |
Purchase price (USD per share) | $ 0.625 |  |
Warrants issued (in shares) |  | 187,734 | 187,734
Institutional Investor |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Exercise price of common stock (USD per share) | $ 3.37 |  |
January 2020 Warrants |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Securities called by warrants (in shares) | 48,185 |  |
Exercise price of common stock (USD per share) | $ 4.99 |  |
January 2020 Equity Offering |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Exercise price of common stock (USD per share) |  | $ 3.67 |
Warrants issued (in shares) |  | 229,414 | 229,414
Estimated proceeds from issuance of warrants |  | $ 800 |
Issuance of common stock upon the exercise of warrants (in shares) |  | 0 | 0

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