Stockholders' Equity, Issuance of Common Stock (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Stockholders' Equity [Abstract]
Common stock, shares authorized (in shares)	150,000,000	150,000,000
Undesignated stock, shares authorized (in shares)	20,000,000	20,000,000
Convertible preferred stock, shares authorized (in shares)	1,742,500	1,742,500
Issuance of common stock (in shares)	59,426,005	59,341,305
Net proceeds from issuance of common stock	$ 0	$ 6,814,000
2020 Market Agreement [Member]
Stockholders' Equity [Abstract]
Aggregate offering price		$ 40,000,000
Percentage of commission rate to be paid to sales agent		3.00%
Issuance of common stock (in shares)	0	845,214
Net proceeds from issuance of common stock		$ 3,864,000
Common Stock [Member]
Stockholders' Equity [Abstract]
Convertible preferred stock, shares authorized (in shares)	12,748,500
Series A 12% Convertible Preferred Stock [Member]
Stockholders' Equity [Abstract]
Convertible preferred stock, shares authorized (in shares)	1,742,500
Series B-1 Convertible Preferred Stock [Member]
Stockholders' Equity [Abstract]
Convertible preferred stock, shares authorized (in shares)	900,000
Series B-2 Convertible Preferred Stock [Member]
Stockholders' Equity [Abstract]
Convertible preferred stock, shares authorized (in shares)	2,100,000
Series B-3 Convertible Preferred Stock [Member]
Stockholders' Equity [Abstract]
Convertible preferred stock, shares authorized (in shares)	2,508,000
Series C 6% Super Dividend Redeemable Convertible Preferred Stock [Member]
Stockholders' Equity [Abstract]
Convertible preferred stock, shares authorized (in shares)	1,000