What is the origin of the idiom "between a rock and a hard place" and when to use it?

The origin of the idiom "between a rock and a hard place" can be traced back to Greek mythology. In the story of Odysseus, he and his crew found themselves in a perilous situation between Scylla, a six-headed sea monster, and Charybdis, a massive whirlpool. Odysseus had to navigate their ship through this treacherous passage, choosing between the two dangerous options. It is often used when discussing dilemmas, predicaments, or tough choices that offer no easy solutions.