Stockholders' Equity - Preferred Stock (Details) $ / shares in Units, $ in Millions		3 Months Ended		6 Months Ended
	May 17, 2022 Vote $ / shares shares	Jun. 30, 2024 USD ($) $ / shares shares	Jun. 30, 2023 USD ($) $ / shares	Jun. 30, 2024 USD ($) director item $ / shares shares	Jun. 30, 2023 USD ($) $ / shares	Dec. 31, 2023 $ / shares shares	Jul. 12, 2017 USD ($)
Preferred Stock
Preferred stock, shares authorized | shares		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 | $		$ 1.2	$ 1.2	$ 2.5	$ 2.3
Series A Preferred Stock
Preferred Stock
Preferred stock, shares authorized | shares		2,800,000		2,800,000
Preferred stock, shares outstanding | shares		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%
Liquidation preference stock amount | $		$ 44.2		$ 44.2
Liquidation preference (in dollars per share) | $ / shares		$ 8		$ 8
Accumulated preferred stock, Dividends | $		$ 1.1	$ 1.0	$ 2.1	$ 1.9
Additional common stock issuable upon conversion of remaining convertible shares | shares		424		424
Cumulative accrued but unpaid dividends | $							$ 22.0
Per share average of cumulative preferred dividends (in dollars per share) | $ / shares		$ 0.38	$ 0.35	$ 0.76	$ 0.69
Reverse stock split				0.000152
Series B Preferred Stock
Preferred Stock
Preferred stock, shares authorized | shares		8,100,000		8,100,000
Preferred stock, shares outstanding | shares		3,029,900		3,029,900		3,029,900
Preferred Stock, par value (in dollars per share) | $ / shares		$ 0.0001		$ 0.0001
Liquidation preference stock amount | $		$ 84.1		$ 84.1
Liquidation preference (in dollars per share) | $ / shares		$ 25		$ 25
Conversion of Series A Preferred stock to common shares | shares				3,029,900
Conversion of shares (in shares) | shares				16,814
Cumulative accrued but unpaid dividends | $		$ 8.3		$ 8.3
Per share average of cumulative preferred dividends (in dollars per share) | $ / shares			$ 0.39		$ 0.77
Per share average of cumulative preferred dividends (in dollars per share) | $ / shares		$ 0.41		$ 0.81
Reverse stock split				0.00555
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 | shares	1
Number of vote per share entitled to each share of Tandem Preferred stock | Vote	1