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Shareholders' Equity - Schedule of Warrants to Purchase (Details) - $ / shares
shares in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Class Of Warrant Or Right [Line Items]      
Number Outstanding   533 338
Issued   1,973  
Exercised   (195) (46)
Cancelled/Expired   (16) (18)
Number Outstanding 274 2,295 274
2013      
Class Of Warrant Or Right [Line Items]      
Expiration Date     2023-04
Number Outstanding   12 12
Cancelled/Expired   (12)  
Number Outstanding 12   12
Range of Exercise Price $ 10.17   $ 10.17
2017      
Class Of Warrant Or Right [Line Items]      
Expiration Date   2023-11 2022-09
Expiration Date   2025-06 2025-06
Number Outstanding   131 203
Exercised     (20)
Cancelled/Expired     (17)
Number Outstanding 166 131 166
2017 | Minimum      
Class Of Warrant Or Right [Line Items]      
Range of Exercise Price $ 0.14 $ 0.14 $ 0.14
2017 | Maximum      
Class Of Warrant Or Right [Line Items]      
Range of Exercise Price $ 23.25 $ 21.8 $ 23.25
2019      
Class Of Warrant Or Right [Line Items]      
Expiration Date   2025-03 2022-07
Expiration Date   2027-04 2027-04
Number Outstanding   44 50
Exercised     (2)
Cancelled/Expired   (4) (1)
Number Outstanding 47 40 47
2019 | Minimum      
Class Of Warrant Or Right [Line Items]      
Range of Exercise Price $ 0.14 $ 0.14 $ 0.14
2019 | Maximum      
Class Of Warrant Or Right [Line Items]      
Range of Exercise Price $ 26.88 $ 21.8 $ 26.88
2020      
Class Of Warrant Or Right [Line Items]      
Expiration Date 2023-02 2023-10  
Expiration Date     2023-10
Number Outstanding   45 73
Exercised     (24)
Number Outstanding 49 45 49
Range of Exercise Price   $ 0.14  
2020 | Minimum      
Class Of Warrant Or Right [Line Items]      
Range of Exercise Price $ 0.14   $ 0.14
2020 | Maximum      
Class Of Warrant Or Right [Line Items]      
Range of Exercise Price $ 26.88   $ 26.88
2022      
Class Of Warrant Or Right [Line Items]      
Expiration Date   2025-08  
Expiration Date   2029-12  
Number Outstanding   301  
Exercised   (128)  
Number Outstanding   173  
2022 | Minimum      
Class Of Warrant Or Right [Line Items]      
Range of Exercise Price   $ 0.14  
2022 | Maximum      
Class Of Warrant Or Right [Line Items]      
Range of Exercise Price   $ 168.35  
2023      
Class Of Warrant Or Right [Line Items]      
Expiration Date   2028-04  
Expiration Date   2033-04  
Issued   1,973  
Exercised   (67)  
Number Outstanding   1,906  
2023 | Minimum      
Class Of Warrant Or Right [Line Items]      
Range of Exercise Price   $ 4.08  
2023 | Maximum      
Class Of Warrant Or Right [Line Items]      
Range of Exercise Price   $ 5.26