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Equity Incentive Plans - Restricted Stock (Details) - Unvested restricted stock units - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Shares      
Restricted stock outstanding at beginning of year (in shares) 125 167  
Granted (in shares) 155,004 94  
Vested (in shares) (112) (135)  
Forfeited (in shares) (1,500)    
Restricted stock outstanding at end of year (in shares) 153,517 125 167
Weighted Average Grant Date Fair Value      
Granted (in dollars per share) $ 2.46 $ 52.50  
Vested (in dollars per share) 674.63 $ 3,815.00  
Forfeited (in dollars per share) $ 2.48    
Aggregate Intrinsic Value      
Intrinsic value of vested shares $ 299 $ 163 $ 163
Executive officers      
Shares      
Granted (in shares)     35
Vesting period     1 year
Directors      
Shares      
Granted (in shares)   94 113
Directors | Minimum      
Shares      
Vesting period   1 year 1 year
Directors | Maximum      
Shares      
Vesting period     3 years
Employees and directors      
Shares      
Granted (in shares) 155,004    
Employees and directors | Minimum      
Shares      
Vesting period 1 year    
Employees and directors | Maximum      
Shares      
Vesting period 4 years