Capital Stock and Warrants - Convertible preferred stock authorized and issued and outstanding (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2021
Capital Stock and Warrants
Shares Authorized	43,405,324			43,405,324
Shares Issued and Outstanding	11,351,841
Proceeds Net of Issuance Costs	$ 35,783
Aggregate Liquidation Preference	$ 37,733			$ 60,841
Series A Preferred Stock
Capital Stock and Warrants
Shares Authorized	8,936,015
Shares Issued and Outstanding	3,086,160
Proceeds Net of Issuance Costs	$ 1,335
Aggregate Liquidation Preference	$ 2,756
Series B Preferred Stock
Capital Stock and Warrants
Shares Authorized	4,707,501
Shares Issued and Outstanding	3,535,621
Proceeds Net of Issuance Costs	$ 7,174
Aggregate Liquidation Preference	$ 7,213
Series m Preferred Stock
Capital Stock and Warrants
Shares Authorized	6,666,666
Shares Issued and Outstanding	1,855,328
Proceeds Net of Issuance Costs	$ 4,818		$ 18,200
Aggregate Liquidation Preference	$ 5,566
Series m-1 Preferred Stock
Capital Stock and Warrants
Shares Authorized	333,334
Series m-2 Preferred Stock
Capital Stock and Warrants
Shares Authorized	1,660,756
Shares Issued and Outstanding	160,000
Proceeds Net of Issuance Costs	$ 480
Aggregate Liquidation Preference	$ 480
Series m-3 Preferred Stock
Capital Stock and Warrants
Shares Authorized	3,490,658
Proceeds Net of Issuance Costs		$ 1,400	$ 3,600
Series m-4 Preferred Stock
Capital Stock and Warrants
Shares Authorized	4,502,061
Series S Preferred Stock
Capital Stock and Warrants
Shares Authorized	13,108,333
Shares Issued and Outstanding	2,714,732
Proceeds Net of Issuance Costs	$ 21,976
Aggregate Liquidation Preference	$ 21,718