Warrants, Summary of Outstanding Warrants Issued in Connection with Equity and Debt Financing and Consultants (Details) | 12 Months Ended |
Dec. 31, 2023 $ / shares shares |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 9,256,493 |
February 12, 2009 Series B-1 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 1,200,000 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Feb. 12, 2009 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | Feb. 12, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
May 13, 2009 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 525,119 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | May 13, 2009 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | May 13, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
May 13, 2009 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 74,881 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | May 13, 2009 |
Expiration date | May 13, 2024 |
Warrant issue date | May 13, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
June 30, 2009 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 306,547 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Jun. 30, 2009 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | Jun. 30, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
June 30, 2009 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 26,786 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Jun. 30, 2009 |
Expiration date | Jun. 30, 2024 |
Warrant issue date | Jun. 30, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
August 12, 2009 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 183,928 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Aug. 12, 2009 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | Aug. 12, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
August 12, 2009 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 16,072 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Aug. 12, 2009 |
Expiration date | Aug. 12, 2024 |
Warrant issue date | Aug. 12, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
September 30, 2009 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 195,922 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Sep. 30, 2009 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | Sep. 30, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
September 30, 2009 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 20,744 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Sep. 30, 2009 |
Expiration date | Sep. 30, 2024 |
Warrant issue date | Sep. 30, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
November 4, 2009 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 85,463 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Nov. 04, 2009 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | Nov. 04, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
November 4, 2009 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 21,203 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Nov. 04, 2009 |
Expiration date | Nov. 04, 2024 |
Warrant issue date | Nov. 04, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
December 8, 2009 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 110,919 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Dec. 08, 2009 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | Dec. 08, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
December 8, 2009 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 22,224 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Dec. 08, 2009 |
Expiration date | Dec. 08, 2024 |
Warrant issue date | Dec. 08, 2009 |
Warrants issued price (in dollars per share) | $ 3 |
January 29, 2010 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 198,664 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Jan. 29, 2010 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | Jan. 29, 2010 |
Warrants issued price (in dollars per share) | $ 3 |
January 29, 2010 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 18,003 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Jan. 29, 2010 |
Expiration date | Jan. 29, 2025 |
Warrant issue date | Jan. 29, 2010 |
Warrants issued price (in dollars per share) | $ 3 |
March 8, 2010 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 184,132 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Mar. 08, 2010 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | Mar. 08, 2010 |
Warrants issued price (in dollars per share) | $ 3 |
March 8, 2010 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 39,202 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Mar. 08, 2010 |
Expiration date | Mar. 08, 2025 |
Warrant issue date | Mar. 08, 2010 |
Warrants issued price (in dollars per share) | $ 3 |
April 30, 2010 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 180,689 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Apr. 30, 2010 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | Apr. 30, 2010 |
Warrants issued price (in dollars per share) | $ 3 |
April 30, 2010 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 23,503 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Apr. 30, 2010 |
Expiration date | Apr. 30, 2025 |
Warrant issue date | Apr. 30, 2010 |
Warrants issued price (in dollars per share) | $ 3 |
May 10, 2010 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 112,631 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | May 10, 2010 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | May 10, 2010 |
Warrants issued price (in dollars per share) | $ 3 |
May 10, 2010 Series B-2 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 30,535 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | May 10, 2010 |
Expiration date | May 10, 2025 |
Warrant issue date | May 10, 2010 |
Warrants issued price (in dollars per share) | $ 3 |
September 22, 2016 Series B-3 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 682,572 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Sep. 22, 2016 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | Sep. 22, 2016 |
Warrants issued price (in dollars per share) | $ 3 |
September 29, 2016 Series B-3 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 843,351 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Sep. 29, 2016 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | Sep. 29, 2016 |
Warrants issued price (in dollars per share) | $ 3 |
December 23, 2016 Series B-3 Transaction [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 922,316 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Dec. 23, 2016 |
Expiration date | Sep. 30, 2026 |
Warrant issue date | Dec. 23, 2016 |
Warrants issued price (in dollars per share) | $ 3 |
February 27, 2017 Private Placement Warrants [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 76,776 |
Exercise price (in dollars per share) | $ 5 |
Exercisable date | Feb. 17, 2017 |
Expiration date | Feb. 17, 2024 |
Warrant issue date | Feb. 27, 2017 |
2018 and 2017 Warrants issued for services [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 2,157 |
Exercise price (in dollars per share) | $ 5 |
May 23, 2019 Rights Offering warrants [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 2,622,154 |
Exercise price (in dollars per share) | $ 7 |
Exercisable date | May 23, 2019 |
Expiration date | May 23, 2026 |
Warrant issue date | May 23, 2019 |
July 22, 2022 Warrants issued in connection with related party line of credit [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 330,000 |
Exercise price (in dollars per share) | $ 5 |
Exercisable date | Jul. 22, 2022 |
Expiration date | Jul. 31, 2029 |
Warrant issue date | Jul. 22, 2022 |
December 29, 2023 Warrants issued for draw on related party line of credit [Member] | |
Outstanding Warrants [Abstract] | |
Number outstanding (in shares) | shares | 200,000 |
Exercise price (in dollars per share) | $ 3 |
Exercisable date | Dec. 29, 2023 |
Expiration date | Jul. 31, 2029 |
Warrant issue date | Dec. 29, 2023 |