Credit Agreement and Guaranty - Carrying Amount Of term Loan (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Credit Agreement and Guaranty
Notes payable	$ 20,000,000		$ 20,000,000
Debt issuance costs	(620,000)		(620,000)
Warrant discount	(2,946,000)		(2,946,000)
Total	16,434,000		16,434,000		$ 16,381,000
Warrants and debt issue costs	$ 399,000	$ 303,000	$ 1,132,000	$ 707,000