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Stockholders' Equity - January 2020 Equity Offering (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended
Jan. 31, 2020
Mar. 31, 2023
Mar. 31, 2022
Jan. 2020 Investor Warrants      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Sale of common stock (in shares) 688,360    
Sale of common stock (USD per share) $ 3.37 $ 3.3700  
Securities called by warrants (in shares) 688,360    
Purchase price (USD per share) $ 0.625    
Warrants issued (in shares)   187,734 187,734
Institutional Investor      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Exercise price of common stock (USD per share) $ 3.37    
January 2020 Warrants      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Securities called by warrants (in shares) 48,185    
Exercise price of common stock (USD per share) $ 4.99    
January 2020 Equity Offering      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Exercise price of common stock (USD per share)   $ 3.67  
Warrants issued (in shares)   229,414 229,414
Estimated proceeds from issuance of warrants   $ 800  
Issuance of common stock upon the exercise of warrants (in shares)   0 0