Stockholders' Equity - Outstanding Warrants from the January 2020 Equity Offering (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Jun. 30, 2021
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
Investor Warrants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of warrants issued (in shares)	187,734	187,734
Sale of common stock (in dollars per share)			$ 5.05
January 2020 Equity Offering, Private Placement
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of warrants issued (in shares)	41,680	41,680
Exercise price of warrants (in dollars per share)	$ 4.9940
January 2020 Institutional Investor
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Sale of common stock (in dollars per share)	$ 3.3700