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Consolidated Statements of Stockholders' Equity - USD ($) shares in Thousands, $ in Thousands | Share-Based Payment Arrangement, Employee [Member] Preferred Stock [Member] | Share-Based Payment Arrangement, Employee [Member] Common Stock [Member] | Share-Based Payment Arrangement, Employee [Member] Additional Paid-in Capital [Member] | Share-Based Payment Arrangement, Nonemployee [Member] Preferred Stock [Member] | Share-Based Payment Arrangement, Nonemployee [Member] Common Stock [Member] | Share-Based Payment Arrangement, Nonemployee [Member] Additional Paid-in Capital [Member] | Share-Based Payment Arrangement, Nonemployee [Member] Retained Earnings [Member] | Share-Based Payment Arrangement, Nonemployee [Member] | Series B Private Placement Warrants [Member] Preferred Stock [Member] | Series B Private Placement Warrants [Member] Common Stock [Member] | Series B Private Placement Warrants [Member] Additional Paid-in Capital [Member] | Series B Private Placement Warrants [Member] Retained Earnings [Member] | Series B Private Placement Warrants [Member] | A-1 Warrants [Member] Preferred Stock [Member] | A-1 Warrants [Member] Common Stock [Member] | A-1 Warrants [Member] Additional Paid-in Capital [Member] | A-1 Warrants [Member] Retained Earnings [Member] | A-1 Warrants [Member] | A-2 Warrants [Member] Preferred Stock [Member] | A-2 Warrants [Member] Common Stock [Member] | A-2 Warrants [Member] Additional Paid-in Capital [Member] | A-2 Warrants [Member] Retained Earnings [Member] | A-2 Warrants [Member] | Director [Member] Preferred Stock [Member] | Director [Member] Common Stock [Member] | Director [Member] Additional Paid-in Capital [Member] | Director [Member] Retained Earnings [Member] | Director [Member] | Series C Preferred Stock [Member] Preferred Stock [Member] | Series C Preferred Stock [Member] Common Stock [Member] | Series C Preferred Stock [Member] Additional Paid-in Capital [Member] | Series C Preferred Stock [Member] Retained Earnings [Member] | Series C Preferred Stock [Member] | Conversion of Series C Preferred Stock to Common Stock [Member] Preferred Stock [Member] | Conversion of Series C Preferred Stock to Common Stock [Member] Common Stock [Member] | Conversion of Series C Preferred Stock to Common Stock [Member] Additional Paid-in Capital [Member] | Conversion of Series C Preferred Stock to Common Stock [Member] Retained Earnings [Member] | Conversion of Series C Preferred Stock to Common Stock [Member] | Preferred Stock [Member] | Common Stock [Member] | Additional Paid-in Capital [Member] | Retained Earnings [Member] | Total
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Balance (in shares) at Dec. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 1,194 |  |  |
Balance at Dec. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 418 | $ 147,963 | $ (136,063) | $ 12,318
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (5,824) | (5,824)
Issuance of warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 13 |  | 13
Issuance of common stock, net of offering costs (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 76 |  |  |
Issuance of common stock, net of offering costs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 27 | 1,749 | 0 | 1,776
Issuance of RSUs | $ 0 | $ 2 | $ (2) | $ 0 | $ 3 | $ 217 | $ 0 | $ 220 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of RSUs (in shares) |  | 5 |  | 0 | 9 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of Series B Preferred Stock and common stock warrants, net of offering costs (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 15 | 0 |  |  |
Issuance of Series B Preferred Stock and common stock warrants, net of offering costs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 735 | $ 0 | 0 | 0 | 735
Conversion of preferred stock to common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (1) | 81 |  |  |
Conversion of Series B Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ (55) | $ (28) | (27) | 0 | 0
Conversion of Preferred Stock to common stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | $ 55 | $ 28 | 27 | 0 | 0
Beneficial conversion feature upon issuance of preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 735 |  | 735
Deemed dividend from beneficial conversion feature of preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (735) |  | (735)
Stock-based compensation expense related to employee and director stock options |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 693 |  | 693
Stock-based compensation expense related to non-employee stock options |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 240 |  | 240
Balance (in shares) at Dec. 31, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 14 | 1,365 |  |  |
Balance at Dec. 31, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 680 | $ 478 | 150,900 | (141,887) | 10,171
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (10,608) | (10,608)
Issuance of common stock, net of offering costs (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 3 | 0 |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock, net of offering costs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 2,054 | $ 0 | $ 0 | $ 0 | $ 2,054 |  |  |  |  |  |  |  |  |  |
Issuance of RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 1 | $ (1) | $ 0 | $ 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of RSUs (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 3 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion of Series B Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (632) | 110 | (56) | (54) | 0 | 0
Conversion of Preferred Stock to common stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 632 | $ (110) | $ 56 | 54 | 0 | 0
Stock-based compensation expense related to employee and director stock options |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 220 |  | 220
Reclassification of Private Placement Warrants |  |  |  |  |  |  |  |  | $ 0 | $ 0 | $ 7,502 | $ 0 | $ 7,502 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,851 |  | 1,851
Conversion of Series B Preferred Stock to common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (1) | 159 |  |  |  | (2) | 161 |  |  |
Issuance of common stock in connection with exercise of warrants, net of offering costs (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 328 |  |  |
Issuance of common stock in connection with exercise of warrants, net of offering costs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 115 | 171 | 0 | 286
Shares issued for reverse stock split due to rounding feature (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 19 |  |  |
Reclassification of equity to liability related to 2022 Warrant Reprice Transaction (see Note 14) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 0 | (3,825) | 0 | (3,825)
Modification of common stock warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 0 | 1,922 | 0 | 1,922
Down round feature adjustment related to Series B Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 0 | 5,657 | (5,657) | 0
Issuance of common stock warrants, net of offering costs |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 176 | $ 0 | $ 0 | $ 0 | $ 176 | $ 805 | $ 0 | $ 0 | $ 0 | $ 805 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion of Series C Preferred Stock to common stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ (632) | $ 2 | $ 630 | $ 0 | $ 0 |  |  |  |  |
Balance (in shares) at Dec. 31, 2022 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 14 | 2,035 |  |  |
Balance at Dec. 31, 2022 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 2,973 | $ 652 | $ 165,081 | $ (158,152) | $ 10,554

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