Warrants, Summary of Outstanding Warrants Issued in Connection with Equity and Debt Financing and Consultants (Details)	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	9,256,493
February 12, 2009 Series B-1 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	1,200,000
Exercise price (in dollars per share)	$ 3
Exercisable date	Feb. 12, 2009
Expiration date	Sep. 30, 2026
Warrant issue date	Feb. 12, 2009
Warrants issued price (in dollars per share)	$ 3
May 13, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	525,119
Exercise price (in dollars per share)	$ 3
Exercisable date	May 13, 2009
Expiration date	Sep. 30, 2026
Warrant issue date	May 13, 2009
Warrants issued price (in dollars per share)	$ 3
May 13, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	74,881
Exercise price (in dollars per share)	$ 3
Exercisable date	May 13, 2009
Expiration date	May 13, 2024
Warrant issue date	May 13, 2009
Warrants issued price (in dollars per share)	$ 3
June 30, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	306,547
Exercise price (in dollars per share)	$ 3
Exercisable date	Jun. 30, 2009
Expiration date	Sep. 30, 2026
Warrant issue date	Jun. 30, 2009
Warrants issued price (in dollars per share)	$ 3
June 30, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	26,786
Exercise price (in dollars per share)	$ 3
Exercisable date	Jun. 30, 2009
Expiration date	Jun. 30, 2024
Warrant issue date	Jun. 30, 2009
Warrants issued price (in dollars per share)	$ 3
August 12, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	183,928
Exercise price (in dollars per share)	$ 3
Exercisable date	Aug. 12, 2009
Expiration date	Sep. 30, 2026
Warrant issue date	Aug. 12, 2009
Warrants issued price (in dollars per share)	$ 3
August 12, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	16,072
Exercise price (in dollars per share)	$ 3
Exercisable date	Aug. 12, 2009
Expiration date	Aug. 12, 2024
Warrant issue date	Aug. 12, 2009
Warrants issued price (in dollars per share)	$ 3
September 30, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	195,922
Exercise price (in dollars per share)	$ 3
Exercisable date	Sep. 30, 2009
Expiration date	Sep. 30, 2026
Warrant issue date	Sep. 30, 2009
Warrants issued price (in dollars per share)	$ 3
September 30, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	20,744
Exercise price (in dollars per share)	$ 3
Exercisable date	Sep. 30, 2009
Expiration date	Sep. 30, 2024
Warrant issue date	Sep. 30, 2009
Warrants issued price (in dollars per share)	$ 3
November 4, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	85,463
Exercise price (in dollars per share)	$ 3
Exercisable date	Nov. 04, 2009
Expiration date	Sep. 30, 2026
Warrant issue date	Nov. 04, 2009
Warrants issued price (in dollars per share)	$ 3
November 4, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	21,203
Exercise price (in dollars per share)	$ 3
Exercisable date	Nov. 04, 2009
Expiration date	Nov. 04, 2024
Warrant issue date	Nov. 04, 2009
Warrants issued price (in dollars per share)	$ 3
December 8, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	110,919
Exercise price (in dollars per share)	$ 3
Exercisable date	Dec. 08, 2009
Expiration date	Sep. 30, 2026
Warrant issue date	Dec. 08, 2009
Warrants issued price (in dollars per share)	$ 3
December 8, 2009 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	22,224
Exercise price (in dollars per share)	$ 3
Exercisable date	Dec. 08, 2009
Expiration date	Dec. 08, 2024
Warrant issue date	Dec. 08, 2009
Warrants issued price (in dollars per share)	$ 3
January 29, 2010 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	198,664
Exercise price (in dollars per share)	$ 3
Exercisable date	Jan. 29, 2010
Expiration date	Sep. 30, 2026
Warrant issue date	Jan. 29, 2010
Warrants issued price (in dollars per share)	$ 3
January 29, 2010 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	18,003
Exercise price (in dollars per share)	$ 3
Exercisable date	Jan. 29, 2010
Expiration date	Jan. 29, 2025
Warrant issue date	Jan. 29, 2010
Warrants issued price (in dollars per share)	$ 3
March 8, 2010 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	184,132
Exercise price (in dollars per share)	$ 3
Exercisable date	Mar. 08, 2010
Expiration date	Sep. 30, 2026
Warrant issue date	Mar. 08, 2010
Warrants issued price (in dollars per share)	$ 3
March 8, 2010 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	39,202
Exercise price (in dollars per share)	$ 3
Exercisable date	Mar. 08, 2010
Expiration date	Mar. 08, 2025
Warrant issue date	Mar. 08, 2010
Warrants issued price (in dollars per share)	$ 3
April 30, 2010 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	180,689
Exercise price (in dollars per share)	$ 3
Exercisable date	Apr. 30, 2010
Expiration date	Sep. 30, 2026
Warrant issue date	Apr. 30, 2010
Warrants issued price (in dollars per share)	$ 3
April 30, 2010 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	23,503
Exercise price (in dollars per share)	$ 3
Exercisable date	Apr. 30, 2010
Expiration date	Apr. 30, 2025
Warrant issue date	Apr. 30, 2010
Warrants issued price (in dollars per share)	$ 3
May 10, 2010 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	112,631
Exercise price (in dollars per share)	$ 3
Exercisable date	May 10, 2010
Expiration date	Sep. 30, 2026
Warrant issue date	May 10, 2010
Warrants issued price (in dollars per share)	$ 3
May 10, 2010 Series B-2 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	30,535
Exercise price (in dollars per share)	$ 3
Exercisable date	May 10, 2010
Expiration date	May 10, 2025
Warrant issue date	May 10, 2010
Warrants issued price (in dollars per share)	$ 3
September 22, 2016 Series B-3 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	682,572
Exercise price (in dollars per share)	$ 3
Exercisable date	Sep. 22, 2016
Expiration date	Sep. 30, 2026
Warrant issue date	Sep. 22, 2016
Warrants issued price (in dollars per share)	$ 3
September 29, 2016 Series B-3 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	843,351
Exercise price (in dollars per share)	$ 3
Exercisable date	Sep. 29, 2016
Expiration date	Sep. 30, 2026
Warrant issue date	Sep. 29, 2016
Warrants issued price (in dollars per share)	$ 3
December 23, 2016 Series B-3 Transaction [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	922,316
Exercise price (in dollars per share)	$ 3
Exercisable date	Dec. 23, 2016
Expiration date	Sep. 30, 2026
Warrant issue date	Dec. 23, 2016
Warrants issued price (in dollars per share)	$ 3
February 27, 2017 Private Placement Warrants [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	76,776
Exercise price (in dollars per share)	$ 5
Exercisable date	Feb. 17, 2017
Expiration date	Feb. 17, 2024
Warrant issue date	Feb. 27, 2017
2018 and 2017 Warrants issued for services [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	2,157
Exercise price (in dollars per share)	$ 5
May 23, 2019 Rights Offering warrants [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	2,622,154
Exercise price (in dollars per share)	$ 7
Exercisable date	May 23, 2019
Expiration date	May 23, 2026
Warrant issue date	May 23, 2019
July 22, 2022 Warrants issued in connection with related party line of credit [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	330,000
Exercise price (in dollars per share)	$ 5
Exercisable date	Jul. 22, 2022
Expiration date	Jul. 31, 2029
Warrant issue date	Jul. 22, 2022
December 29, 2023 Warrants issued for draw on related party line of credit [Member]
Outstanding Warrants [Abstract]
Number outstanding (in shares) | shares	200,000
Exercise price (in dollars per share)	$ 3
Exercisable date	Dec. 29, 2023
Expiration date	Jul. 31, 2029
Warrant issue date	Dec. 29, 2023