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Stock Based Compensation - Stock Compensation Expense, Restricted Stock (Details) - Unvested restricted stock awards - Series D Preferred Stock - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Restricted stock compensation expense | $ 0 | $ 33
Research and Development Expense |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Restricted stock compensation expense | 0 | 17
Sales, general and administrative |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Restricted stock compensation expense | $ 0 | $ 16

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