CONDENSED CONSOLIDATED BALANCE SHEETS (UNAUDITED) (Parenthetical) - USD ($)	Sep. 30, 2024	Dec. 31, 2023
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 479,000	$ 479,000
Accumulated depreciation	$ 54,759,000	$ 46,098,000
Series A convertible preferred stock, shares designated (in shares)	600,000	600,000
Series A convertible preferred stock, shares issued (in shares)	600,000	600,000
Series A convertible preferred stock, shares outstanding (in shares)	600,000	600,000
Series A convertible preferred stock, liquidation preference, value	$ 60,000	$ 60,000
Preferred stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Preferred stock, shares authorized (in shares)	5,000,000	5,000,000
Common stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized (in shares)	100,000,000	100,000,000
Common stock, shares issued (in shares)	17,596,298	17,477,019
Common stock, shares outstanding (in shares)	14,184,076	14,064,797
Treasury stock (in shares)	3,412,222	3,412,222