Consolidated Balance Sheets (Parenthetical) - USD ($)	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Allowances for credit losses	$ 3,234,000	$ 2,223,000
Redeemable convertible preferred stock, par value (in dollars per share)	$ 0.001	$ 0.001
Redeemable convertible preferred stock, authorized (in shares)	10,000,000	10,000,000
Redeemable convertible preferred stock, issued (in shares)	40,000	40,000
Redeemable convertible preferred stock, outstanding (in shares)	40,000	40,000
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, authorized (in shares)	500,000,000	500,000,000
Common stock, issued (in shares)	117,372,171	109,696,178
Common stock, outstanding (in shares)	117,372,171	109,696,178