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Warrants (Tables)
 12 Months Ended
Dec. 31, 2023
Warrants [Abstract]  
Summary of Warrants Activity, Outstanding Warrants Issued in Connection with Equity and Debt Financings and Consultants
Warrant activity is summarized as follows:

   
Warrants
    
Weighted average
exercise price
  
             
Outstanding at December 31, 2021
    
10,857,964
    
$
4.37
  
Issued
    
700,000
       4.43  
Exercised
    
—
          
Canceled/Expired
    
—
          
Outstanding at December 31, 2022
    
11,557,964
    
$
4.37
  
Issued
    
600,000
       3.09  
Exercised
    
(2,236,204
)
     4.49  
Canceled/Expired
    
(665,267
)
     4.94  
Outstanding at December 31, 2023
    
9,256,493
    
$
4.22
  
 
The following table summarizes information with regard to outstanding warrants issued in connection with equity and debt financings and consultants as of December 31, 2023.

Issued in Connection With  
Number
Outstanding
    
Exercise
Price
    Exercisable Date  Expiration Date
February 12, 2009 Series B-1 Transaction $3.00 Investor Warrants – Class B
    
1,200,000
     $ 3.00   February 12, 2009 September 30, 2026
May 13, 2009 Series B-2 Transaction $3.00 Investor Warrants – Class B
     525,119     $
3.00   May 13, 2009 September 30, 2026
May 13, 2009 Series B-2 Transaction $3.00 Investor Warrants – Class B
    
74,881
     $ 3.00    May 13, 2009   May 13, 2024 
June 30, 2009 Series B-2 Transaction $3.00 Investor Warrants – Class B
     306,547     $
3.00   June 30, 2009 September 30, 2026
June 30, 2009 Series B-2 Transaction $3.00 Investor Warrants – Class B
    
26,786
     $ 3.00    June 30, 2009  June 30, 2024
August 12, 2009 Series B-2 Transaction $3.00 Investor Warrants – Class B
     183,928     $
3.00   August 12, 2009 September 30, 2026
August 12, 2009 Series B-2 Transaction $3.00 Investor Warrants – Class B
    
16,072
     $ 3.00   August 12, 2009
August 12, 2024
September 30, 2009 Series B-2 Transaction $3.00 Investor Warrants – Class B
     195,922     $
3.00   September 30, 2009 September 30, 2026
September 30, 2009 Series B-2 Transaction $3.00 Investor Warrants – Class B
    
20,744
     $ 3.00  
September 30, 2009
September 30, 2024
November 4, 2009 Series B-2 Transaction $3.00 Investor Warrants – Class B
     85,463     $
3.00   November 4, 2009 September 30, 2026
November 4, 2009 Series B-2 Transaction $3.00 Investor Warrants – Class B
    
21,203
    
$
3.00
  
November 4, 2009
November 4, 2024
December 8, 2009 Series B-2 Transaction $3.00 Investor Warrants – Class B
     110,919     $
3.00   December 8, 2009 September 30, 2026
December 8, 2009 Series B-2 Transaction $3.00 Investor Warrants – Class B
    
22,224
    
$
3.00
  
December 8, 2009
December 8, 2024
January 29, 2010 Series B-2 Transaction $3.00 Investor Warrants – Class B
     198,664     $
3.00   January 29, 2010 September 30, 2026
January 29, 2010 Series B-2 Transaction $3.00 Investor Warrants – Class B
    
18,003
    
$
3.00
  
January 29, 2010
January 29, 2025
March 8, 2010 Series B-2 Transaction $3.00 Investor Warrants – Class B
     184,132     $
3.00   March 8, 2010 September 30, 2026
March 8, 2010 Series B-2 Transaction $3.00 Investor Warrants – Class B
    
39,202
    
$
3.00
  
March 8, 2010
March 8, 2025
April 30, 2010 Series B-2 Transaction $3.00 Investor Warrants – Class B
     180,689     $
3.00   April 30, 2010 September 30, 2026
April 30, 2010 Series B-2 Transaction $3.00 Investor Warrants – Class B
    
23,503
    
$
3.00
  
April 30, 2010
April 30, 2025
May 10, 2010 Series B-2 Transaction $3.00 Investor Warrants – Class B
     112,631     $
3.00   May 10, 2010 September 30, 2026
May 10, 2010 Series B-2 Transaction $3.00 Investor Warrants – Class B
    
30,535
    
$
3.00
  
May 10, 2010
May 10, 2025
September 22, 2016 Series B-3 Transaction $3.00 Investor Warrants – Class B
   
682,572
    
$
3.00
  
September 22, 2016
September 30, 2026
September 29, 2016 Series B-3 Transaction $3.00 Investor Warrants – Class B
   
843,351
    
$
3.00
  
September 29, 2016
September 30, 2026
December 23, 2016 Series B-3 Transaction $3.00 Investor Warrants – Class B
   
922,316
    
$
3.00
  
December 23, 2016
September 30, 2026
February 27, 2017 Private Placement Warrants
    
76,776
    
$
5.00
  
February 17, 2017
February 17, 2024
2018 and 2017 Warrants issued for services
    
2,157
    
$
5.00
  
Various dates in 2017
and 2018
Various dates in 2024
and 2025
May 23, 2019 Rights Offering warrants
    
2,622,154
    
$
7.00
  
May 23, 2019
May 23, 2026
July 22, 2022 Warrants issued in connection with related party line of credit
     330,000     $
5.00   July 22, 2022 July 31, 2029
December 29, 2023 Warrants issued for draw on related party line of credit
     200,000     $
3.00   December 29, 2023 July 31, 2029
Total Outstanding Warrants
    
9,256,493