Stockholders' Equity - Outstanding Warrants from the January 2020 Equity Offering (Details) - $ / shares	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Jan. 31, 2020
January 2020 Equity Offering
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrants issued (in shares)	229,414	229,414
Exercise price of common stock (USD per share)	$ 3.67
Jan. 2020 Investor Warrants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrants issued (in shares)	187,734	187,734
Sale of common stock (USD per share)	$ 3.3700		$ 3.37
Jan. 2020 Placement Agent Warrants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Warrants issued (in shares)	41,680	41,680
Exercise price of common stock (USD per share)	$ 4.9940