Stockholders' Equity - Preferred Stock (Details) $ / shares in Units, $ in Millions		3 Months Ended
	May 17, 2022 Vote $ / shares shares	Mar. 31, 2024 USD ($) director item $ / shares shares	Mar. 31, 2023 USD ($) $ / shares	Dec. 31, 2023 $ / shares 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 | $		$ 1.2	$ 1.2
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 | $		$ 1.1	$ 1.0
Additional common stock issuable upon conversion of remaining convertible shares		413
Cumulative accrued but unpaid dividends | $					$ 20.9
Per share average of cumulative preferred dividends (in dollars per share) | $ / shares		$ 0.38	$ 0.34
Reverse stock split		0.000149
Series B Preferred Stock
Preferred Stock
Preferred stock, shares authorized		8,100,000
Preferred stock, shares outstanding		3,029,900		3,029,900
Preferred Stock, par value (in dollars per share) | $ / shares		$ 0.0001
Conversion of Series A Preferred stock to common shares		3,029,900
Conversion of shares (in shares)		16,565
Cumulative accrued but unpaid dividends | $		$ 7.1
Per share average of cumulative preferred dividends (in dollars per share) | $ / shares		$ 0.40	$ 0.38
Reverse stock split		0.00547
Preferred stock cumulative dividend		6.00%
Number of directors | director		1
Number of directors in arrears | item		8
Tandom Preferred Stock
Preferred Stock
Preferred Stock, par value (in dollars per share) | $ / shares	$ 0.0001
Number of vote per share entitled to each share of Tandem Preferred stock	1
Number of vote per share entitled to each share of Tandem Preferred stock | Vote	1