Equity - Common Stock and Preferred Stock (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands		1 Months Ended	12 Months Ended
	Jun. 01, 2022	Jul. 31, 2022	Dec. 31, 2022	Dec. 31, 2021	Jul. 31, 2018
Stockholders' equity
Common stock, authorized shares			62,500
Preferred stock, authorized shares			2,000
Proceeds from issuance of common stock, net of offering costs			$ 6,539	$ 5,309
ATM
Stockholders' equity
Number of shares of common stock issued			501	1,100
Number of shares issued to date			1,600
Aggregate offering price				$ 8,700
Gross proceeds from the offering			$ 624	5,500
Proceeds from issuance of common stock, net of offering costs			$ 587	$ 5,300
Share price of shares issued in offering (in dollars per share)			$ 1.24	$ 5.03
Participation Right
Stockholders' equity
Number of shares of common stock issued		1,592
Proceeds from issuance of common stock, net of offering costs		$ 1,700
Stock Issued, Investor, Maximum Beneficial Ownership Percentage					20.00%
Share price of shares issued in offering (in dollars per share)		$ 1.11
Underwritten public offering
Stockholders' equity
Number of shares of common stock issued	4,186
Gross proceeds from the offering	$ 4,600
Proceeds from issuance of common stock, net of offering costs	$ 4,200
Share price of shares issued in offering (in dollars per share)	$ 1.11
Common Stock | ATM
Stockholders' equity
Gross proceeds from the offering			$ 6,100
Proceeds from issuance of common stock, net of offering costs			$ 5,900
Share price of shares issued in offering (in dollars per share)			$ 3.84