Stockholders' Equity, Issuance of Common Stock (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
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)	61,852,914	59,426,005
2020 Market Agreement [Member]
Stockholders' Equity [Abstract]
Aggregate offering price		$ 40.0
Percentage of commission rate to be paid to sales agent		3.00%
Issuance of common stock (in shares)	0	0
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