Quarterly report pursuant to Section 13 or 15(d)

Debt - Narrative (Details)

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Debt - Narrative (Details) - USD ($)
 1 Months Ended 3 Months Ended 9 Months Ended
Aug. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Sep. 03, 2023
Dec. 31, 2022
Sep. 03, 2022
Sep. 03, 2021
Oct. 28, 2020
Debt Instrument [Line Items]                    
Total debt   $ 83,270,000   $ 83,270,000     $ 78,938,000      
Non-cash interest expense       525,000 $ 270,000          
Adams Street Capital Agreement | Revolving Credit Facility                    
Debt Instrument [Line Items]                    
Paid in kind interest 2.00%                  
Minimum liquidity covenant $ 5,000,000                  
Non-cash interest expense   0 $ 300,000 500,000 300,000          
Medium-term Notes | Adams Street Capital Agreement                    
Debt Instrument [Line Items]                    
Credit amount                   $ 31,000,000
Total debt   30,600,000   30,600,000     30,626,000      
Medium-term Notes | Adams Street Delayed Draw Term Loan                    
Debt Instrument [Line Items]                    
Credit amount                   15,000,000
Total debt   14,806,000   14,806,000     14,819,000      
Medium-term Notes | Adams Street Incremental Term Loan                    
Debt Instrument [Line Items]                    
Credit amount                   32,000,000
Total debt   31,668,000   31,668,000     31,695,000      
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility                    
Debt Instrument [Line Items]                    
Credit amount                   $ 25,000,000
Borrowed amount   11,000,000   22,500,000            
Repayment amount     $ 6,000,000   $ 17,500,000          
Total debt   5,000,000   5,000,000     0      
Line of credit   20,000,000   20,000,000            
Notes Payable to Banks | D&O Financing Loans                    
Debt Instrument [Line Items]                    
Total debt   $ 1,196,000   $ 1,196,000     $ 1,798,000      
Face amount           $ 1,200,000   $ 2,700,000 $ 3,000,000  
Interest rate           7.39%   4.59% 1.74%