Warrants - Summary of Assumptions to Use Option Pricing Model (Details)	Dec. 31, 2022	Dec. 31, 2021	Mar. 31, 2018	Jan. 31, 2017	Sep. 30, 2016
2018 Direct Registered Offering | Expected term (in years)
Fair Value Inputs1 Liabilities Quantitative Information [Line Items]
Warrants, fair value measurement inputs			7.0
2018 Direct Registered Offering | Expected volatility (%)
Fair Value Inputs1 Liabilities Quantitative Information [Line Items]
Warrants, fair value measurement inputs			0.625
2018 Direct Registered Offering | Risk-free interest rate (%)
Fair Value Inputs1 Liabilities Quantitative Information [Line Items]
Warrants, fair value measurement inputs			0.028
2018 Direct Registered Offering | Expected dividend yield (%)
Fair Value Inputs1 Liabilities Quantitative Information [Line Items]
Warrants, fair value measurement inputs			0
2017 Placement Warrants Liability | Expected term (in years)
Fair Value Inputs1 Liabilities Quantitative Information [Line Items]
Warrants, fair value measurement inputs	1.0	2.0		7.0
2017 Placement Warrants Liability | Expected volatility (%)
Fair Value Inputs1 Liabilities Quantitative Information [Line Items]
Warrants, fair value measurement inputs	0.829	0.860		0.629
2017 Placement Warrants Liability | Risk-free interest rate (%)
Fair Value Inputs1 Liabilities Quantitative Information [Line Items]
Warrants, fair value measurement inputs	0.047	0.004		0.022
2017 Placement Warrants Liability | Expected dividend yield (%)
Fair Value Inputs1 Liabilities Quantitative Information [Line Items]
Warrants, fair value measurement inputs	0	0		0
2016 Placement Warrants Liability | Expected term (in years)
Fair Value Inputs1 Liabilities Quantitative Information [Line Items]
Warrants, fair value measurement inputs	0.6	1.6			7.0
2016 Placement Warrants Liability | Expected volatility (%)
Fair Value Inputs1 Liabilities Quantitative Information [Line Items]
Warrants, fair value measurement inputs	0.827	0.855			0.616
2016 Placement Warrants Liability | Risk-free interest rate (%)
Fair Value Inputs1 Liabilities Quantitative Information [Line Items]
Warrants, fair value measurement inputs	0.048	0.003			0.014
2016 Placement Warrants Liability | Expected dividend yield (%)
Fair Value Inputs1 Liabilities Quantitative Information [Line Items]
Warrants, fair value measurement inputs	0	0			0