Warrants, Summary of Outstanding Warrants Issued in Connection with Equity and Debt Financing and Consultants (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	May 23, 2019
Outstanding Warrants [Abstract]
Number issued (in shares)	10,857,964
Exercise price (in dollars per share)		$ 7.00
February 12, 2009 Series B-1 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	1,200,000
Exercise price (in dollars per share)	$ 3.00
Exercisable date	Feb. 12, 2009
Expiration date	Feb. 12, 2024
Warrant issue date	Feb. 12, 2009
Warrants issued price (in dollars per share)	$ 3.00
May 13, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	600,000
Exercise price (in dollars per share)	$ 3.00
Exercisable date	May 13, 2009
Expiration date	May 13, 2024
Warrant issue date	May 13, 2009
Warrants issued price (in dollars per share)	$ 3.00
June 30, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	333,333
Exercise price (in dollars per share)	$ 3.00
Exercisable date	Jun. 30, 2009
Expiration date	Jun. 30, 2024
Warrant issue date	Jun. 30, 2009
Warrants issued price (in dollars per share)	$ 3.00
August 12, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	200,000
Exercise price (in dollars per share)	$ 3.00
Exercisable date	Aug. 12, 2009
Expiration date	Aug. 12, 2024
Warrant issue date	Aug. 12, 2009
Warrants issued price (in dollars per share)	$ 3.00
September 30, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	216,666
Exercise price (in dollars per share)	$ 3.00
Exercisable date	Sep. 30, 2009
Expiration date	Sep. 30, 2024
Warrant issue date	Sep. 30, 2009
Warrants issued price (in dollars per share)	$ 3.00
November 4, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	106,666
Exercise price (in dollars per share)	$ 3.00
Exercisable date	Nov. 04, 2009
Expiration date	Nov. 04, 2024
Warrant issue date	Nov. 04, 2009
Warrants issued price (in dollars per share)	$ 3.00
December 8, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	133,143
Exercise price (in dollars per share)	$ 3.00
Exercisable date	Dec. 08, 2009
Expiration date	Dec. 08, 2024
Warrant issue date	Dec. 08, 2009
Warrants issued price (in dollars per share)	$ 3.00
January 29, 2010 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	216,667
Exercise price (in dollars per share)	$ 3.00
Exercisable date	Jan. 29, 2010
Expiration date	Jan. 29, 2025
Warrant issue date	Jan. 29, 2010
Warrants issued price (in dollars per share)	$ 3.00
March 8, 2010 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	223,334
Exercise price (in dollars per share)	$ 3.00
Exercisable date	Mar. 08, 2010
Expiration date	Mar. 08, 2025
Warrant issue date	Mar. 08, 2010
Warrants issued price (in dollars per share)	$ 3.00
April 30, 2010 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	204,192
Exercise price (in dollars per share)	$ 3.00
Exercisable date	Apr. 30, 2010
Expiration date	Apr. 30, 2025
Warrant issue date	Apr. 30, 2010
Warrants issued price (in dollars per share)	$ 3.00
May 10, 2010 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	143,166
Exercise price (in dollars per share)	$ 3.00
Exercisable date	May 10, 2010
Expiration date	May 10, 2025
Warrant issue date	May 10, 2010
Warrants issued price (in dollars per share)	$ 3.00
September 22, 2016 Series B-3 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	698,158
Exercise price (in dollars per share)	$ 3.00
Exercisable date	Sep. 22, 2016
Expiration date	Sep. 22, 2023
Warrant issue date	Sep. 22, 2016
Warrants issued price (in dollars per share)	$ 3.00
September 29, 2016 Series B-3 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	846,100
Exercise price (in dollars per share)	$ 3.00
Exercisable date	Sep. 29, 2016
Expiration date	Sep. 29, 2023
Warrant issue date	Sep. 29, 2016
Warrants issued price (in dollars per share)	$ 3.00
December 22, 2016 Private Placement Warrants [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	1,466,204
Exercise price (in dollars per share)	$ 5.00
Exercisable date	Dec. 22, 2016
Expiration date	Dec. 23, 2023
Warrant issue date	Dec. 22, 2016
December 23, 2016 Series B-3 Transaction [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	924,780
Exercise price (in dollars per share)	$ 3.00
Exercisable date	Dec. 23, 2016
Expiration date	Dec. 23, 2023
Warrant issue date	Dec. 23, 2016
Warrants issued price (in dollars per share)	$ 3.00
December 28, 2016 Private Placement Warrants [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	644,468
Exercise price (in dollars per share)	$ 5.00
Exercisable date	Dec. 28, 2016
Expiration date	Dec. 28, 2023
Warrant issue date	Dec. 28, 2016
February 27, 2017 Private Placement Warrants [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	76,776
Exercise price (in dollars per share)	$ 5.00
Exercisable date	Feb. 27, 2017
Expiration date	Feb. 27, 2024
Warrant issue date	Feb. 27, 2017
2018 and 2017 Warrants issued for services [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	2,157
Exercise price (in dollars per share)	$ 5.00
May 23, 2019 Rights offering warrants [Member]
Outstanding Warrants [Abstract]
Number issued (in shares)	2,622,154
Exercise price (in dollars per share)	$ 7.00
Exercisable date	May 23, 2019
Expiration date	May 23, 2026
Warrant issue date	May 23, 2019