Credit Agreement and Guaranty - Carrying Amount Of term Loan (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Credit Agreement and Guaranty
Long-term debt	$ 1,650,000	$ 2,625,000
Debt issuance costs	(23,000)	(209,000)
Warrant discount	(112,000)	(990,000)
Total debt	1,515,000	1,426,000
Less, current portion	1,515,000	1,426,000
Amortization and debt issue costs	$ 1,063,000	$ 1,969,000	$ 1,661,000