Annual report pursuant to Section 13 and 15(d)

Convertible Redeemable Preferred Stock and Stockholders' Equity - Warrants for Common Shares (Details)

v3.24.1
Convertible Redeemable Preferred Stock and Stockholders' Equity - Warrants for Common Shares (Details)
 1 Months Ended 12 Months Ended
Jul. 26, 2023
USD ($)
$ / shares
shares
May 15, 2023
USD ($)
$ / shares
shares
Apr. 12, 2023
USD ($)
$ / shares
Apr. 07, 2023
USD ($)
Y
$ / shares
shares
Mar. 29, 2023
USD ($)
Mar. 27, 2023
USD ($)
Y
$ / shares
shares
Feb. 03, 2023
USD ($)
Jan. 31, 2023
shares
Feb. 28, 2023
USD ($)
Y
$ / shares
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
Y
$ / shares
shares
Dec. 01, 2022
$ / shares
Convertible Preferred Stock and Stockholders' Equity                        
Proceeds from issuance of common stock in connection with warrant exercise | $                   $ 12,533,000 $ 6,418,000  
Shares issued | shares                   38,335 0  
Inducement Letters                        
Convertible Preferred Stock and Stockholders' Equity                        
Aggregate shares issued upon exercise of warrants (in shares) | shares 510,000                      
Net proceeds | $ $ 617,000                      
Lippert Heishorn Associates Inc                        
Convertible Preferred Stock and Stockholders' Equity                        
Dividend rate (in %)                   0.00%    
Design LLC                        
Convertible Preferred Stock and Stockholders' Equity                        
Dividend rate (in %)                     0.00%  
Common stock                        
Convertible Preferred Stock and Stockholders' Equity                        
Aggregate shares issued upon exercise of warrants (in shares) | shares                     0  
Aggregate share issued | shares                   2,176,435 540,000  
Issuance of common stock upon warrant exchanged | shares                   2,854,485    
Percentage of exercise of warrants issued 100.00%                      
February 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Aggregate share issued | shares               201,544        
Net proceeds | $             $ 5,300,000          
March 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Warrants exercise price (in $ per share)           $ 1.91            
Fair value of warrant | $           $ 2,113,000            
Common stock price (in $ per share)           $ 1.66            
Warrants to purchase shares of common stock for cash | shares           1,674,414            
Net proceeds | $         $ 1,600,000              
April 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Warrants exercise price (in $ per share)       $ 1.41                
Fair value of warrant | $       $ 1,596,000                
Common stock price (in $ per share)       $ 1.32                
Warrants to purchase shares of common stock for cash | shares       1,486,132                
Aggregate share issued | shares       743,066                
Net proceeds | $     $ 1,000,000.0                  
Warrant                        
Convertible Preferred Stock and Stockholders' Equity                        
Aggregate shares issued upon exercise of warrants (in shares) | shares                   100 100  
Common stock price (in $ per share)                     $ 11.00  
Issuance of common stock in connection with convertible securities (In shares) | shares                     1,944  
Combined shares price                   $ 20.00 $ 20.00  
Issuance of common stock upon warrant exchanged | shares                   28,133,588 107,144  
Warrant | Inducement Letters                        
Convertible Preferred Stock and Stockholders' Equity                        
Aggregate shares issued upon exercise of warrants (in shares) | shares   1,486,132                    
Warrants exercise price (in $ per share)     $ 1.41                  
Warrant | Inducement Warrants                        
Convertible Preferred Stock and Stockholders' Equity                        
Aggregate shares issued upon exercise of warrants (in shares) | shares   1,486,132                    
Warrants to purchase shares of common stock for cash | shares   2,972,264                    
Net proceeds | $   $ 1,900,000                    
Exercise price   $ 1.33                    
Warrant | Maxim                        
Convertible Preferred Stock and Stockholders' Equity                        
Warrants exercise price (in $ per share)                     $ 99.70  
Common stock price (in $ per share)                     $ 77.00  
Proceeds from issuance of common stock in connection with warrant exercise | $                     $ 91,000  
Aggregate share issued | shares                     1,944  
Warrant | December 2022 offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Warrants exercise price (in $ per share)                     $ 14.00 $ 14.00
Warrant | February 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Warrants exercise price (in $ per share)                 $ 10.49      
Fair value of warrant | $                 $ 5,600,000      
Common stock price (in $ per share)                 $ 8.90      
Warrants to purchase shares of common stock for cash | shares                 874,959      
Prefunded common stock warrants.                        
Convertible Preferred Stock and Stockholders' Equity                        
Common stock price (in $ per share)                   $ 1,580.00 $ 1,580.00  
Issuance of common stock upon warrant exchanged | shares                     207  
April 2020 Maxim Warrant                        
Convertible Preferred Stock and Stockholders' Equity                        
Warrants exercise price (in $ per share)   $ 0.50                    
Series A warrants | December 2022 offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Warrants exercise price (in $ per share)                     $ 14.00  
Common stock price (in $ per share)                     $ 11.00  
Proceeds from issuance of common stock in connection with warrant exercise | $                     $ 4,914,000  
Aggregate share issued | shares                     540,000  
Series B warrants | December 2022 offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Warrants exercise price (in $ per share)                     $ 14.00  
Common stock price (in $ per share)                     $ 11.00  
Proceeds from issuance of common stock in connection with warrant exercise | $                     $ 4,914,000  
Aggregate share issued | shares                     540,000  
Convertible note warrant                        
Convertible Preferred Stock and Stockholders' Equity                        
Convertible note warrant | $                     $ 151,000  
Convertible note warrant | December 2022 offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Warrants exercise price (in $ per share)                     $ 99.70  
Floor price (in $ per share)                     $ 50.00  
July Inducement Warrants                        
Convertible Preferred Stock and Stockholders' Equity                        
Aggregate shares issued upon exercise of warrants (in shares) | shares 510,000                      
Warrants exercise price (in $ per share) $ 1.29                      
Redemption price per warrant $ 0.50                      
Expected yield (in %) | March 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input           0.000            
Expected yield (in %) | April 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input       0                
Expected yield (in %) | Warrant                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                     0.000  
Expected yield (in %) | Warrant | February 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                 0.0      
Expected yield (in %) | Series A warrants | December 2022 offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                     0.000  
Expected yield (in %) | Series B warrants | December 2022 offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                     0.000  
Expected yield (in %) | Convertible note warrants debt discount with offset | Maxim                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                     0.000  
Expected volatility (in %) | March 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input           1.04            
Expected volatility (in %) | April 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input       1.156                
Expected volatility (in %) | Warrant                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                     0.89  
Expected volatility (in %) | Warrant | February 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                 0.96      
Expected volatility (in %) | Series A warrants | December 2022 offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                     0.89  
Expected volatility (in %) | Series B warrants | December 2022 offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                     0.89  
Expected volatility (in %) | Convertible note warrants debt discount with offset | Maxim                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                     0.803  
Risk-free interest rate (in %) | March 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input           0.0367            
Risk-free interest rate (in %) | April 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input       0.0346                
Risk-free interest rate (in %) | Warrant                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                     0.0399  
Risk-free interest rate (in %) | Warrant | February 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                 0.0367      
Risk-free interest rate (in %) | Series A warrants | December 2022 offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                     0.0368  
Risk-free interest rate (in %) | Series B warrants                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                     0.0368  
Risk-free interest rate (in %) | Convertible note warrants debt discount with offset | Maxim                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input                     0.0291  
Expected life (in years) | December 2022 offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input | Y                     5  
Expected life (in years) | March 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input | Y           5            
Expected life (in years) | April 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input | Y       5                
Expected life (in years) | Warrant                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input | Y                     4.7  
Expected life (in years) | Warrant | February 2023,Registered direct offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input | Y                 5      
Expected life (in years) | Series A warrants | December 2022 offering                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input | Y                     5  
Expected life (in years) | Convertible note warrants debt discount with offset | Maxim                        
Convertible Preferred Stock and Stockholders' Equity                        
Measurement input | Y                     5