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Equity and Stock Compensation Plans - Stock Option Grants and Unrestricted Stock Grants (Details)
12 Months Ended
Jul. 01, 2022
shares
Dec. 31, 2022
USD ($)
Installment
$ / shares
shares
Dec. 31, 2021
USD ($)
Installment
$ / shares
shares
Dec. 31, 2020
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Total stock-based compensation expense | $   $ 1,707,000 $ 1,567,000  
Stock options        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of stock options granted   0 2,875,000  
Options outstanding, Weighted average remaining contractual term (in years)   8 years 3 days    
Weighted average remaining contractual term   6 years 11 months 19 days    
Aggregate intrinsic value of options exercisable | $   $ 0    
Amount of unrecognized compensation expense related to non-vested options | $   $ 2,200,000    
Unrestricted Stock | 2001 Nonqualified Stock Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares granted (in shares)   60,000    
Unrestricted Stock | 2001 Nonqualified Stock Plan | 2022 Grant        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares granted (in shares)   167,921 56,553  
Number of shares issued 61,460 46,461    
Unrestricted Stock | 2001 Nonqualified Stock Plan | 2022 Grant | Officer        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of installment | Installment   4 2  
Equity Option        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of stock options granted     2,875,000  
Number of options outstanding   2,560,000 3,240,000 425,000
Weighted average exercise price of options outstanding | $ / shares   $ 4.96 $ 4.97 $ 6.00
Options outstanding, Weighted average remaining contractual term (in years)   8 years 3 days    
Weighted average period for nonvested options   2 years