Stock-Based Compensation - Schedule of Stock-based Compensation Expense Classified in Research and Development Expenses (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Stock-based compensation expense	$ 2,044	$ 1,571
Research and Development Expenses [Member]
Stock-based compensation expense	462	408
Research and Development Expenses [Member] | Lucid Diagnostics Inc [Member]
Stock-based compensation expense	65	174
Lucid Diagnostics Inc 2018 Equity Plan [Member] | Research and Development Expenses [Member]
Stock-based compensation expense	52	158
PAVmed Inc 2014 Equity Plan [Member] | Research and Development Expenses [Member]
Stock-based compensation expense	$ 13	$ 16