Company Overview and Equity Transactions (Details) - USD ($) $ / shares in Units, $ in Thousands						1 Months Ended	12 Months Ended		38 Months Ended
	Aug. 02, 2023	Jun. 14, 2023	Jun. 06, 2022	Apr. 12, 2022	Sep. 11, 2019	Jun. 30, 2022	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2023	Aug. 01, 2023	Jul. 15, 2019
Subsidiary, Sale of Stock [Line Items]
Common stock, shares outstanding (in shares)							68,533,085	54,827,734	68,533,085
Exercise price of warrants (in usd per share)											$ 0.001
Warrants issued (in shares)											2,000,000
Common Stock Warrants
Subsidiary, Sale of Stock [Line Items]
Warrants issued to purchase common stock (in shares)		3,689,452
Proceeds from warrant exercises	$ 4,800	$ 3,542					$ 8,342
Warrants issued (in shares)						8,850,000
Costs of common stock issued under private equity offering							$ 35
Existing Warrants
Subsidiary, Sale of Stock [Line Items]
Class of warrant or right, outstanding (in shares)										5,000,000
Exercise price of warrants (in usd per share)										$ 0.96
Stock issued during period, conversion of convertible securities (in shares)	5,000,000						8,689,452
New Warrants
Subsidiary, Sale of Stock [Line Items]
Warrants issued to purchase common stock (in shares)	160,548
Exercise price of warrants (in usd per share)	$ 1.09									$ 2.60
Warrants issued (in shares)										2,750,000
Maximum | Common Stock Warrants
Subsidiary, Sale of Stock [Line Items]
Exercise price of warrants (in usd per share)						$ 1.09
Equity Distribution Agreement
Subsidiary, Sale of Stock [Line Items]
Sale of stock, aggregate offering price					$ 25,000
Number of shares issued in transaction (in shares)							4,958,341	2,860,538
Consideration received on sale of stock							$ 8,962	$ 3,907
Equity Distribution Agreement | Maximum
Subsidiary, Sale of Stock [Line Items]
Sale of stock, aggregate offering price					35,000
At The Market Offering, Amendment One | Maximum
Subsidiary, Sale of Stock [Line Items]
Sale of stock, aggregate offering price					$ 50,000
At The Market Offering
Subsidiary, Sale of Stock [Line Items]
Number of shares issued in transaction (in shares)									15,300,298
Consideration received on sale of stock									$ 48,703
Payments of stock issuance costs							502	$ 289	$ 2,555
Remaining amount available for offering							$ 23,952
Lincoln Park Agreement
Subsidiary, Sale of Stock [Line Items]
Number of shares issued in transaction (in shares)								1,600,000
Consideration received on sale of stock								$ 1,987
Right to sell common stock, value				$ 40
Agreement term (in months)				36 months
Lincoln Park Agreement | Maximum
Subsidiary, Sale of Stock [Line Items]
Subsidiary or equity method investee, cumulative percentage ownership limitation after all transactions				9.99%
Subsidiary or equity method investee, cumulative percentage ownership limitation after all transactions, shares							6,486,623		6,486,623
Securities Purchase Agreement
Subsidiary, Sale of Stock [Line Items]
Common stock, shares outstanding (in shares)			4,850,000
Common stock entitled to purchasers by pre-funded warrants (in shares)			4,000,000			4,000,000
Stock to be purchased by common stock warrants (in shares)			8,850,000			8,850,000
Net proceeds after placement agent fees, expenses, and offering expenses payable			$ 7,796
Lincoln Park Agreement, Commitment Share
Subsidiary, Sale of Stock [Line Items]
Number of shares issued in transaction (in shares)								236,491