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Shareholders' Equity - Schedule of Warrants to Purchase (Details) - $ / shares
shares in Thousands
 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Class Of Warrant Or Right [Line Items]    
Number Outstanding 533 338
Issued 1,973 4
Exercised (627) (48)
Cancelled/Expired (16) (36)
Number Outstanding 1,863 258
Maximum    
Class Of Warrant Or Right [Line Items]    
Range of Exercise Price $ 0.14  
2013    
Class Of Warrant Or Right [Line Items]    
Expiration Date   2023-04
Number Outstanding 12 12
Cancelled/Expired (12)  
Number Outstanding   12
Range of Exercise Price   $ 10.17
2017    
Class Of Warrant Or Right [Line Items]    
Expiration Date 2023-11 2022-12
Expiration Date 2025-06 2025-06
Number Outstanding 131 203
Exercised   (20)
Cancelled/Expired   (35)
Number Outstanding 131 148
2017 | Minimum    
Class Of Warrant Or Right [Line Items]    
Range of Exercise Price $ 0.14 $ 0.14
2017 | Maximum    
Class Of Warrant Or Right [Line Items]    
Range of Exercise Price $ 21.8 $ 23.25
2019    
Class Of Warrant Or Right [Line Items]    
Expiration Date 2025-03 2022-10
Expiration Date 2027-04 2027-04
Number Outstanding 44 50
Exercised   (5)
Cancelled/Expired   (1)
Number Outstanding 44 44
2019 | Minimum    
Class Of Warrant Or Right [Line Items]    
Range of Exercise Price $ 0.14 $ 0.14
2019 | Maximum    
Class Of Warrant Or Right [Line Items]    
Range of Exercise Price $ 21.8 $ 21.8
2020    
Class Of Warrant Or Right [Line Items]    
Expiration Date 2023-10 2023-02
Expiration Date   2023-10
Number Outstanding 45 73
Exercised (1) (23)
Cancelled/Expired (4)  
Number Outstanding 40 50
Range of Exercise Price $ 0.14  
2020 | Minimum    
Class Of Warrant Or Right [Line Items]    
Range of Exercise Price   $ 0.14
2020 | Maximum    
Class Of Warrant Or Right [Line Items]    
Range of Exercise Price   $ 26.88
2022    
Class Of Warrant Or Right [Line Items]    
Expiration Date 2025-08 2025-08
Expiration Date 2029-12 2025-09
Number Outstanding 301  
Issued   4
Exercised (149)  
Number Outstanding 152 4
Range of Exercise Price   $ 0.14
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 2028-10  
Issued 1,973  
Exercised (477)  
Number Outstanding 1,496  
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