Stockholders' Equity - Preferred Stock (Details) $ / shares in Units, $ in Thousands		12 Months Ended
	May 12, 2023 shares	Dec. 31, 2023 USD ($) director $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Mar. 23, 2023 USD ($)	May 17, 2022 $ / shares	Jul. 12, 2017 USD ($)
Preferred Stock
Preferred stock, shares authorized		20,000,000	20,000,000
Preferred Stock, par value (in dollars per share) | $ / shares		$ 0.0001	$ 0.0001
Dividends, Preferred Stock | $		$ 4,700	$ 3,600
Dividends paid | $			$ 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
Preferred stock, shares outstanding		2,778,111	2,778,111
Preferred Stock, par value (in dollars per share) | $ / shares		$ 0.0001
Preferred Stock, cumulative dividends rate (in percentage)		10.00%
Accumulated preferred stock, Dividends | $		$ 4,000	$ 3,600
Additional common stock issuable upon conversion of remaining convertible shares		403
Cumulative accrued but unpaid dividends | $						$ 19,900
Per share average of cumulative preferred dividends (in dollars per share) | $ / shares		$ 7.2
Reverse stock split		0.000145
Series B Preferred Stock
Preferred Stock
Preferred stock, shares authorized		8,100,000
Preferred stock, shares outstanding		3,029,900	0
Preferred Stock, par value (in dollars per share) | $ / shares		$ 0.0001			$ 0.0001
Accumulated preferred stock, Dividends | $			$ 2,500
Conversion of Series A Preferred stock to common shares		3,029,900
Conversion of shares (in shares)		16,320
Cumulative accrued but unpaid dividends | $				$ 5,900
Per share average of cumulative preferred dividends (in dollars per share) | $ / shares		$ 1.93
Reverse stock split		0.005386
Preferred stock cumulative dividend		6.00%
Number of directors | director		1
Number of directors in arrears | director		8