Stockholders' Equity - Preferred Stock (Details) $ / shares in Units, $ in Thousands			3 Months Ended		9 Months Ended
	May 12, 2023 shares	May 17, 2017 Vote shares	Sep. 30, 2023 USD ($) $ / shares shares	Sep. 30, 2022 USD ($) $ / shares	Sep. 30, 2023 USD ($) director $ / shares shares	Sep. 30, 2022 USD ($) $ / shares	Dec. 31, 2022 $ / shares shares	May 17, 2022 $ / shares
Preferred Stock
Preferred stock, shares authorized			20,000,000		20,000,000		20,000,000
Preferred Stock, par value (in dollars per share) | $ / shares			$ 0.0001		$ 0.0001		$ 0.0001
Dividends, Preferred Stock | $			$ 1,200	$ 1,100	$ 3,500	$ 2,500
Accumulated dividend | $						2,532
Conversion of shares (in shares)	1
Reverse stock split	0.005
Series A Preferred Stock
Preferred Stock
Preferred stock, shares authorized			2,800,000		2,800,000
Preferred stock, shares outstanding			2,778,111		2,778,111		2,778,111
Preferred Stock, par value (in dollars per share) | $ / shares			$ 0.0001		$ 0.0001
Preferred Stock, cumulative dividends rate (in percentage)					10.00%
Accumulated preferred stock, Dividends | $			$ 1,000	$ 900	$ 2,900	$ 2,600
Additional common stock issuable upon conversion of remaining convertible shares			393		393
Cumulative accrued but unpaid dividends | $			$ 18,800		$ 18,800
Per share average of cumulative preferred dividends (in dollars per share) | $ / shares			$ 0.36	$ 0.33	$ 1.05	$ 0.95
Reverse stock split					0.00014
Series B Preferred Stock
Preferred Stock
Preferred stock, shares authorized			8,100,000		8,100,000
Preferred stock, shares outstanding			3,029,900		3,029,900		3,029,900
Preferred Stock, par value (in dollars per share) | $ / shares			$ 0.0001		$ 0.0001
Conversion of Series A Preferred stock to common shares					3,029,900
Accumulated dividend | $						$ 2,500
Conversion of shares (in shares)					16,079
Cumulative accrued but unpaid dividends | $			$ 4,600		$ 4,600
Per share average of cumulative preferred dividends (in dollars per share) | $ / shares			$ 0.39	$ 0.38	$ 1.16	$ 0.83
Reverse stock split					0.00531
Preferred stock cumulative dividend					6.00%
Number of directors | director					1
Number of directors in arrears | director					8
Tandem Preferred Stock
Preferred Stock
Preferred Stock, par value (in dollars per share) | $ / shares								$ 0.0001
Number of Tandem preferred stock issued per Series B Preferred Stock		1
Number of vote per share entitled to each share of Tandem Preferred stock | Vote		1