Preferred Stock (Details) - USD ($) $ / shares in Units, $ in Millions			3 Months Ended	12 Months Ended
	Mar. 22, 2022	Mar. 22, 2022	Dec. 31, 2022	Dec. 31, 2022	Dec. 31, 2023	Jan. 14, 2019	Apr. 20, 2018
Class of Stock [Line Items]
Preferred stock, shares authorized (in shares)			5,000,000	5,000,000	5,000,000
Preferred stock, par value (in usd per share)			$ 0.001	$ 0.001	$ 0.001
Series 4 Convertible Preferred Stock
Class of Stock [Line Items]
Preferred stock, shares authorized (in shares)			10,415	10,415	10,415		10,415
Preferred stock, par value (in usd per share)							$ 1,000
Series preferred stock conversion value (in shares)							$ 1,674,000
Preferred stock, shares outstanding (in shares)			1	1	1
Series 5 Convertible Preferred Stock
Class of Stock [Line Items]
Preferred stock, shares authorized (in shares)			12,000	12,000	12,000	12,000
Preferred stock, par value (in usd per share)						$ 1,000
Series preferred stock conversion value (in shares)						$ 1,123,875
Preferred stock, shares outstanding (in shares)			126	126	126
Series 7 Preferred Stock
Class of Stock [Line Items]
Preferred shares redeemed (in shares)	49,250
Preferred shares redeemed, cash consideration	$ 49.3
Convertible preferred stock, beginning balance (in shares)			0	0	0
Series 8 Preferred Stock
Class of Stock [Line Items]
Preferred stock, shares authorized (in shares)	53,197.7234	53,197.7234
Preferred stock, par value (in usd per share)	$ 0.001	$ 0.001
Preferred stock, shares outstanding (in shares)					0
Preferred shares redeemed (in shares)			53,197.72	53,197.72
Preferred shares redeemed, cash consideration			$ 53.2
Preferred stock, stated value per share (in usd per share)	1,000	1,000
Preferred stock, convertible, conversion price (in usd per share)	$ 3,538	$ 3,538
Net proceeds from issuance of preferred stock and warrants		$ 46.9
Series 8 Preferred Stock | Registered Direct Offering
Class of Stock [Line Items]
Preferred stock, shares authorized (in shares)	53,197.7234	53,197.7234
Preferred stock, par value (in usd per share)	$ 0.001	$ 0.001
Number of shares sold under offering (in shares)		15,045
Subscription price (in usd per share)	$ 940	$ 940
Original issuance discount percentage	6.00%	6.00%
Aggregate subscription value	$ 50.0	$ 50.0