Stockholders' Equity - January 2020 Equity Offering (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Offering costs paid on the issuance of common stock and warrants	$ (334,000)	$ (969,000)
Issuance of common stock upon the exercise of warrants (in shares)		237,892
Proceeds from the exercise of warrants	$ 0	$ 801,000
January 2020 Equity Offering
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of warrants issued (in shares)	229,414	229,414
Exercise price of warrants (in dollars per share)	$ 3.67
Issuance of common stock upon the exercise of warrants (in shares)	0
Proceeds from the exercise of warrants	$ 0	$ 801,000
Estimated proceeds from issuance of warrants	$ 841,000