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Stock-Based Compensation - Stock incentive plan and other information (Details) - USD ($) |  | 3 Months Ended |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Mar. 20, 2007 | Mar. 31, 2022 | Mar. 31, 2021 | Dec. 31, 2021 | Sep. 17, 2020 | Sep. 05, 2019 | Sep. 04, 2019 | Sep. 24, 2018 | Sep. 23, 2018 | Sep. 07, 2017 | Sep. 06, 2017 | Aug. 25, 2016 | Aug. 24, 2016 | May 15, 2015 | May 14, 2015 | Oct. 22, 2013 | Oct. 21, 2013 | Nov. 02, 2010
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number |  |  |  | 6,255,275 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Not yet Recognized, Stock Options |  | $ 624,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
General and Administrative Expense [Member] | Employees [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Allocated Share-based Compensation Expense |  | 59,000 | $ 49,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Consultant [Member] | General and Administrative Expenses and Research and Development Expense [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Allocated Share-based Compensation Expense |  | $ 53,000 | $ 52,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
2007 Stock Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number | 71,429 | 5,145 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
2007 Stock Plan [Member] | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross | 7,143 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Amended Stock Plan 2010 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance |  |  |  |  |  | 4,000,000 | 1,000,000 | 1,000,000 | 500,000 | 500,000 | 400,000 | 400,000 | 228,572 | 228,572 | 171,429 | 171,429 | 85,714 |
2010 Stock Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number |  | 3,668,333 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 85,714
2010 Stock Plan [Member] | Board of Directors [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number |  | 2,434,237 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
2020 Stock Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number |  |  |  |  | 4,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |

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