Restructuring - Narrative (Details)	3 Months Ended								12 Months Ended
	Dec. 31, 2022 USD ($)	Sep. 30, 2022 USD ($)	Jun. 30, 2022 USD ($)	Mar. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Sep. 30, 2021 USD ($)	Jun. 30, 2021 USD ($)	Mar. 31, 2021 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Nov. 16, 2022 USD ($)	Nov. 10, 2022 USD ($)	Aug. 23, 2022 d $ / shares	Dec. 31, 2020 USD ($)
Restructuring and Related Activities [Abstract]
Net loss	$ (2,310,000)	$ (2,662,000)	$ (2,486,000)	$ (2,821,000)	$ (2,631,000)	$ (1,140,000)	$ (2,473,000)	$ (1,642,000)	$ (10,279,000)	$ (7,886,000)
Net cash used in operating activities									(6,713,000)	(9,765,000)
Closing bid price of common stock (in USD per share) | $ / shares													$ 1.00
Number of consecutive days for which the bid price was below threshold | d													30
Stockholders' equity	$ (477,000)	$ 5,000,000			$ 6,209,000				$ (477,000)	$ 6,209,000	$ 2,500,000	$ 1,500,000		$ 4,255,000