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Capital Stock - Common Stock Warrants (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  |  |  |  | 3 Months Ended | 12 Months Ended |  |  |  |  |
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Jun. 07, 2023 | Apr. 23, 2023 | Apr. 18, 2023 | Mar. 31, 2023 | Mar. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Oct. 06, 2023 | Dec. 31, 2021 | Jun. 28, 2021 | Dec. 06, 2020 | Oct. 21, 2020
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, convertible, par value (in dollars per share) |  |  |  |  | $ 0.0001 |  |  |  |  |  |  |  |  |
Warrants issued (in shares) |  |  |  |  |  |  |  | 4,137,850 |  |  |  |  |  |
Exercise price (in dollars per share) |  |  |  |  |  |  |  | $ 1.73 | $ 66.34 |  | $ 995.06 |  |  |
Weighted average conversion price (in dollars per share) |  |  |  |  |  |  |  |  |  | $ 0.2792 |  |  |  |
Proceeds from Warrant Exercises |  |  |  |  |  |  |  | $ 534 | $ 0 |  |  |  |  |
Warrants outstanding, ending (in shares) |  |  |  |  |  |  |  | 4,137,850 | 343,099 |  | 343,099 |  |  |
Expired (in shares) | 1,934 | 667 |  |  |  |  |  | 2,601 |  |  |  |  |  |
Private Placement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants issued (in shares) |  |  |  | 4,136,850 |  |  | 4,136,850 |  |  |  |  |  |  |
Private Placement | Preferred Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of warrants called (in shares) |  |  |  |  | 32,750 |  |  |  |  |  |  |  |  |
Private Placement | Investor Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of warrants called (in shares) |  |  |  |  | 3,830,417 |  |  |  |  |  |  |  |  |
Private Placement | Placement Agent Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of warrants called (in shares) |  |  |  |  | 306,433 |  |  |  |  |  |  |  |  |
Series F Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares issued (in shares) |  |  |  | 6,550 |  |  |  |  |  |  |  |  |  |
Preferred stock, convertible, par value (in dollars per share) |  |  |  |  |  |  |  | $ 0.0001 | $ 0.0001 |  |  |  |  |
Exercise price (in dollars per share) |  |  |  |  |  |  |  | 975 |  |  |  |  |  |
Weighted average conversion price (in dollars per share) |  |  |  |  | $ 1.71 |  |  | $ 0.34 |  |  |  |  |  |
Series F Preferred Stock | Private Placement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares issued (in shares) |  |  |  |  | 6,550 |  |  |  |  |  |  |  |  |
Percentage of cash fees (in percent) |  |  |  |  | 8.00% |  |  |  |  |  |  |  |  |
Payments of stock issuance costs |  |  |  | $ 1,022 |  |  |  |  |  |  |  |  |  |
Common stock issuable upon conversion of Common Stock Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Deemed dividend |  |  |  |  |  | $ 751 | $ 25 |  |  |  |  |  |  |
Common stock issuable upon conversion of Common Stock Warrants | Placement Agent Warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrants issued (in shares) |  |  |  |  |  |  |  | 306,433 |  |  |  |  |  |
Exercise price (in dollars per share) |  |  |  |  |  |  |  | $ 1.71 |  |  |  |  |  |
Common stock issuable upon conversion of Common Stock Warrants | Private Placement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Warrant term (in years) |  |  |  | 5 years |  |  | 5 years |  |  |  |  |  |  |
Beneficial ownership limitation (in percent) |  |  |  | 4.99% |  |  | 4.99% |  |  |  |  |  |  |
Common Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price (in dollars per share) |  |  | $ 1.71 |  |  |  |  |  |  |  |  |  |  |
Issuance of common shares from warrant exercise (in shares) |  |  | 339,498 |  |  |  |  | 746,027 |  |  |  |  |  |
Proceeds from Warrant Exercises |  |  | $ 534 |  |  |  |  |  |  |  |  |  |  |
Payments of stock issuance costs |  |  | $ 46 |  |  |  |  |  |  |  |  |  |  |
Warrants outstanding, ending (in shares) |  |  |  |  |  |  |  |  |  |  |  | 1,000 | 1,934 | 667

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