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Debt - Financing and Capital Lease Obligations (Details) - USD ($)
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Essex sale-leaseback transactions | Transaction One      
Long-term debt      
Imputed interest rate on lease (as a percent)     14.90%
Financing and capital leases, maturing through May 2024 | Equipment lease      
Long-term debt      
Newly acquired asset under equipment lease $ 400,000 $ 100,000  
Interest rate on lease (as a percent) 6.50% 5.30%  
Financing and capital leases, maturing through May 2024 | Essex sale-leaseback transactions | Transaction Two      
Long-term debt      
Newly acquired assets under sale-leaseback transaction     $ 3,200,000
Finance Lease      
Long-term debt      
Interest on lease liabilities $ 214,000 $ 341,000 $ 263,000