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Net Loss per Share - Additional Information (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Mar. 31, 2021
Jun. 30, 2020
Mar. 31, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2017
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]              
Net Loss Attributable to Non-controlling Interest $ 0 $ (1,000) $ (16,000) $ (26,000) $ (1,000) $ (42,000)  
Series A Preferred Stock [Member]              
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]              
Accretion of Preferred Stock Deemed Dividend         7,400,000    
Preferred Stock Redemption Discount             $ 6,900,000
Accretion of preferred discount         100,000    
Preferred stock accrued dividends 0   63,000   24,000 125,000  
Series B Preferred Stock [Member]              
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]              
Accretion of Preferred Stock Deemed Dividend     392,000 795,000 1,500,000    
Net Loss Attributable to Non-controlling Interest   $ 0 100,000 0 100,000 100,000  
Accretion of preferred discount     400,000 $ 400,000 1,500,000 800,000  
Preferred stock accrued dividends $ 0   $ 392,000   $ 1,497,000 $ 796,000  
Convertible to common stock that were excluded from the computations of net loss per common share 0   4,804,348   0 4,804,348  
Equity Option [Member]              
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]              
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount       2,472,362 3,997,418    
Warrant [Member]              
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]              
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount 3,997,418   2,472,362   6,344,966 18,714,999