Stockholders' Equity - Additional Information (Details) - USD ($)		12 Months Ended
	May 30, 2022	Dec. 31, 2023	Dec. 31, 2022	Jun. 27, 2023	May 19, 2014
Stockholders' Equity [Line Items]
Number of shares authorized to issue		185,000,000
Common stock, shares authorized		175,000,000	175,000,000
Common stock, par or stated value per share		$ 0.18	$ 0.18
Common stock repurchased		$ 1,475,000
Preferred stock, shares authorized		10,000,000	10,000,000
Preferred stock, par or stated value per share		$ 0.001	$ 0.001
Preferred stock, shares issued		582	582
Stockholder rights agreement, number of preferred stock right distributed for each share of common stock					1
Stockholder rights agreement, acquiring person, percentage of ownership					15.00%
Stockholder rights agreement, acquiring person, additional percentage of ownership					2.00%
Stockholder rights agreement, initial exercise price of each right					$ 15
Stockholder rights agreement, share price					$ 30
Consummate a business combination, percentage of acquired outstanding shares		50.00%
Consummate a business combination, percentage of aggregate ordinary voting power		50.00%
Class of warrant or right, outstanding		21,514,500
Class of warrant or right, exercised during period		0	0
Share Repurchases [Member]
Stockholders' Equity [Line Items]
Common stock, par or stated value per share				$ 0.18
Stock repurchase program, authorized amount				$ 10,000,000
Common stock repurchased, shares		1,320,046
Common stock repurchased		$ 1,500,000
The 2020 Liability Warrants [Member]
Stockholders' Equity [Line Items]
Warrants and rights outstanding, term		4 years
Warrants Associated with 2020 Offering Consisting of Common Stock and Warrants [Member]
Stockholders' Equity [Line Items]
Warrants and rights outstanding, term		4 years 6 months
The 2020 Warrants [Member]
Stockholders' Equity [Line Items]
Class of warrant or right, number of securities called by each warrant or right		1
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)		$ 1.055
Warrants exercisable, ownership percentage of shares allowed		4.99%
Common stock, convertible, ownership percentage of shares allowed		9.99%
Class of warrant or right, outstanding		4,500,000
The 2018 Warrants [Member]
Stockholders' Equity [Line Items]
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)		$ 1
Class of warrant or right, outstanding		6,489,500
Class of warrant or right, warrants expired	762,000
Class of warrant or right, expirations in period, exercise price	$ 4.05
Series A Junior Participating Preferred Stock [Member]
Stockholders' Equity [Line Items]
Preferred stock, shares authorized		750,000
Preferred stock, par or stated value per share		$ 0.001
Preferred stock, shares issued		0	0
Series A Convertible Preferred Stock [Member]
Stockholders' Equity [Line Items]
Preferred stock, shares authorized		4,000
Preferred stock, par or stated value per share		$ 0.001
Preferred stock, shares issued		0	0
Series B Convertible Preferred Stock [Member]
Stockholders' Equity [Line Items]
Preferred stock, shares authorized		25,000
Preferred stock, par or stated value per share		$ 0.001
Stated value per share		$ 1,000
Preferred stock, convertible, conversion price		$ 3.52
Series C Convertible Preferred Stock [Member]
Stockholders' Equity [Line Items]
Preferred stock, shares authorized		20,000
Preferred stock, par or stated value per share		$ 0.001
Preferred stock, shares issued		0	0
Preferred stock, convertible, ownership percentage of shares allowed		9.99%