Stockholders' Equity - Additional Information (Details) - USD ($)	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023	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
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	21,310,750
Class of warrant or right, exercised during period		0
Exercises of warrants	$ 204,000	$ 0
Common stock, issued (in shares)	125,507,814		125,304,064
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
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
Warrants exercisable, ownership percentage of shares allowed	4.99%
Common stock, convertible, ownership percentage of shares allowed	9.99%
2021 and 2020 Warrants [Member]
Stockholders' Equity [Line Items]
Common stock, issued (in shares)	203,750
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
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
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%