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Consolidated Statements of Stockholders' Equity - USD ($) | Series A Preferred Stock [Member] Preferred Stock [Member] | Series A Preferred Stock [Member] Common Stock [Member] | Series A Preferred Stock [Member] Additional Paid-in Capital [Member] | Series A Preferred Stock [Member] | Nonemployees [Member] Common Stock [Member] | Nonemployees [Member] Additional Paid-in Capital [Member] | Nonemployees [Member] | Employee [Member] Common Stock [Member] | Employee [Member] Additional Paid-in Capital [Member] | Employee [Member] | Preferred Stock [Member] | Common Stock [Member] | Additional Paid-in Capital [Member] | Retained Earnings [Member] | Total
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Balance (in shares) at Dec. 31, 2018 |  |  |  |  |  |  |  |  |  |  | 0 | 17,089,000 |  |  |
Balance at Dec. 31, 2018 |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 171,000 | $ 119,764,000 | $ (114,981,000) | $ 4,954,000
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  | (9,658,000) | (9,658,000)
Reclassification of warrant liability to equity |  |  |  |  |  |  |  |  |  |  | $ 0 |  | 412,000 | (356,000) | 56,000
Down round feature adjustment related to warrants |  |  |  |  |  |  |  |  |  |  |  |  | 29,000 | (29,000) |
Issuance of preferred stock and common stock warrants, net of offering costs (in shares) | 2,700,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of preferred stock and common stock warrants, net of offering costs | $ 584,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion of preferred stock to common stock (in shares) | (2,700,000) | 2,700,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion of preferred stock to common stock | $ (584,000) |  |  |  |  |  |  |  |  |  |  |  |  |  | (584,000)
Conversion of preferred stock to common stock |  | $ 27,000 | $ 557,000 | $ 584,000 |  |  |  |  |  |  |  |  |  |  |
Beneficial conversion feature upon issuance of preferred stock |  |  | 800,000 | 800,000 |  |  |  |  |  |  |  |  |  |  |
Deemed dividend from beneficial conversion feature of preferred stock |  |  | (800,000) | (800,000) |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock in connection with offering, net of offering costs (in shares) |  |  |  |  |  |  |  |  |  |  |  | 7,467,000 |  |  |
Issuance of common stock in connection with offering, net of offering costs |  |  |  |  |  |  |  |  |  |  |  | $ 75,000 | 3,427,000 |  | 3,502,000
Issuance of common stock in connection with exercise of warrants (in shares) |  |  |  |  |  |  |  |  |  |  |  | 389,000 |  |  |
Issuance of common stock in connection with exercise of warrants |  |  |  |  |  |  |  |  |  |  |  | $ 4,000 | 616,000 |  | 620,000
Issuance of RSUs related to employee separation agreement (in shares) |  |  |  |  |  |  |  |  |  |  |  | 168,000 |  |  |
Issuance of RSUs related to employee separation agreement |  |  |  |  |  |  |  |  |  |  |  | $ 2,000 | 218,000 |  | $ 220,000
Issuance of common stock for option exercises (in shares) |  |  |  |  |  |  |  |  |  |  |  | 83,000 |  |  | 83,000
Issuance of common stock for option exercises |  |  |  |  |  |  |  |  |  |  |  |  | 189,000 |  | $ 189,000
Issuance of RSUs (in shares) |  |  |  |  | 36,000 |  |  | 6,000 |  |  |  |  |  |  |
Issuance of RSUs |  |  |  |  |  | $ 20,000 | $ 20,000 |  | $ 10,000 | $ 10,000 |  |  |  |  |
Stock-based compensation expense related to employee and director stock options |  |  |  |  |  |  |  |  |  |  |  |  | 334,000 |  | 334,000
Stock-based compensation expense related to non-employee stock options |  |  |  |  |  |  |  |  |  |  |  |  | 37,000 |  | 37,000
Stock option modification |  |  |  |  |  |  |  |  |  |  |  |  | 105,000 |  | 105,000
Deemed dividend from beneficial conversion feature of preferred stock |  |  | $ 800,000 | $ 800,000 |  |  |  |  |  |  |  |  |  |  |
Balance (in shares) at Dec. 31, 2019 |  |  |  |  |  |  |  |  |  |  | 0 | 27,938,000 |  |  |
Balance at Dec. 31, 2019 |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 279,000 | 125,718,000 | (125,024,000) | 973,000
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  | (11,039,000) | (11,039,000)
Reclassification of warrant liability to equity |  |  |  |  |  |  |  |  |  |  |  |  | 197,000 |  | 197,000
Conversion of preferred stock to common stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0
Issuance of common stock in connection with offering, net of offering costs (in shares) |  |  |  |  |  |  |  |  |  |  |  | 5,838,000 |  |  |
Issuance of common stock in connection with offering, net of offering costs |  |  |  |  |  |  |  |  |  |  |  | $ 58,000 | 5,162,000 |  | 5,220,000
Issuance of common stock in connection with exercise of warrants (in shares) |  |  |  |  |  |  |  |  |  |  |  | 7,791,000 |  |  |
Issuance of common stock in connection with exercise of warrants |  |  |  |  |  |  |  |  |  |  |  | $ 78,000 | 16,128,000 |  | $ 16,206,000
Issuance of common stock for option exercises (in shares) |  |  |  |  |  |  |  |  |  |  |  | 20,000 |  |  | 20,000
Issuance of common stock for option exercises |  |  |  |  |  |  |  |  |  |  |  | $ 1,000 | 6,000 |  | $ 7,000
Issuance of RSUs (in shares) |  |  |  |  | 193,000 |  |  | 2,000 |  |  |  |  |  |  |
Issuance of RSUs |  |  |  |  | $ 2,000 | 218,000 | 220,000 |  | $ 2,000 | $ 2,000 |  |  |  |  |
Stock-based compensation expense related to employee and director stock options |  |  |  |  |  |  |  |  |  |  |  |  | 415,000 |  | 415,000
Stock-based compensation expense related to non-employee stock options |  |  |  |  |  |  |  |  |  |  |  |  | 64,000 |  | 64,000
Stock option modification |  |  |  |  |  |  |  |  |  |  |  |  | 53,000 |  | 53,000
Balance (in shares) at Dec. 31, 2020 |  |  |  |  |  |  |  |  |  |  | 0 | 41,782,000 |  |  |
Balance at Dec. 31, 2020 |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 418,000 | 147,963,000 | (136,063,000) | 12,318,000
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  | (5,824,000) | (5,824,000)
Issuance of preferred stock and common stock warrants, net of offering costs (in shares) |  |  |  |  |  |  |  |  |  |  | 15 |  |  |  |
Issuance of preferred stock and common stock warrants, net of offering costs |  |  |  |  |  |  |  |  |  |  | $ 735 |  |  |  | 735
Conversion of preferred stock to common stock (in shares) |  |  |  |  |  |  |  |  |  |  | (1,000) | 2,823,000 |  |  |
Conversion of preferred stock to common stock |  |  |  |  |  |  |  |  |  |  | $ (55,000) |  |  |  | (55,000)
Conversion of preferred stock to common stock |  |  |  |  |  |  |  |  |  |  |  | $ 28,000 | 27,000 |  |
Beneficial conversion feature upon issuance of preferred stock |  |  |  |  |  |  |  |  |  |  |  |  | 735,000 |  | 735,000
Deemed dividend from beneficial conversion feature of preferred stock |  |  |  |  |  |  |  |  |  |  |  |  | 735,000 |  | 735,000
Issuance of common stock in connection with offering, net of offering costs (in shares) |  |  |  |  |  |  |  |  |  |  |  | 2,673,000 |  |  |
Issuance of common stock in connection with offering, net of offering costs |  |  |  |  |  |  |  |  |  |  |  | $ 27,000 | 1,749,000 |  | $ 1,776,000
Issuance of common stock for option exercises (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0
Issuance of RSUs (in shares) |  |  |  |  | 328,000 |  |  |  |  |  |  | 160 |  |  |
Issuance of RSUs |  |  |  |  | $ 3,000 | $ 217,000 | $ 220,000 |  |  |  |  | $ 2 | (2) |  |
Stock-based compensation expense related to employee and director stock options |  |  |  |  |  |  |  |  |  |  |  |  | 693,000 |  | $ 693,000
Stock-based compensation expense related to non-employee stock options |  |  |  |  |  |  |  |  |  |  |  |  | 240,000 |  | 240,000
Issuance of warrants |  |  |  |  |  |  |  |  |  |  |  |  | 13,000 |  | 13,000
Deemed dividend from beneficial conversion feature of preferred stock |  |  |  |  |  |  |  |  |  |  |  |  | (735,000) |  | (735,000)
Balance (in shares) at Dec. 31, 2021 |  |  |  |  |  |  |  |  |  |  | 14,000 | 47,766,000 |  |  |
Balance at Dec. 31, 2021 |  |  |  |  |  |  |  |  |  |  | $ 680,000 | $ 478,000 | $ 150,900,000 | $ (141,887,000) | $ 10,171,000

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