Annual report pursuant to Section 13 and 15(d)

Debt - Narrative (Details)

v3.23.1
Debt - Narrative (Details)
12 Months Ended
Aug. 08, 2022
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Mar. 25, 2022
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Sep. 02, 2021
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Jun. 18, 2021
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Jan. 15, 2021
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Dec. 31, 2022
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Dec. 31, 2021
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Oct. 28, 2022
Sep. 03, 2022
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Sep. 03, 2021
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Feb. 17, 2021
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Oct. 28, 2020
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Aug. 31, 2020
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May 01, 2020
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Debt Instrument [Line Items]                            
Draw down amount           $ 22,696,000 $ 53,024,000              
Non-cash interest expense           690,000 0              
Forgiveness amount       $ 600,000                    
Available liquidity           53,300,000                
Cash and cash equivalents           28,316,000 20,523,000              
Line of credit           25,000,000                
DSS PPP Loan                            
Debt Instrument [Line Items]                            
Face amount                           $ 1,100,000
Interest rate                           1.00%
Repayments of debt             500,000              
Medium-term Notes | Adams Street Capital Agreement                            
Debt Instrument [Line Items]                            
Credit amount                       $ 31,000,000    
Draw down amount         $ 15,000,000                  
Additional borrowing capacity                     $ 32,000,000      
Net leverage ratio     6.50                      
Minimum liquidity covenant $ 5,000,000                          
Interest rate, increase 2.00%                          
Non-cash interest expense           700,000                
Limited guarantee for the payment of outstanding term loans $ 7,500,000                          
Medium-term Notes | Adams Street Capital Agreement | Scenario 1                            
Debt Instrument [Line Items]                            
Net leverage ratio               7.50            
Medium-term Notes | Adams Street Capital Agreement | Scenario 2                            
Debt Instrument [Line Items]                            
Net leverage ratio               6.50            
Medium-term Notes | Adams Street Delayed Draw Term Loan                            
Debt Instrument [Line Items]                            
Credit amount                       15,000,000    
Line of Credit | Adams Street Capital Agreement                            
Debt Instrument [Line Items]                            
Borrowings outstanding under credit facility           $ 0 0              
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility                            
Debt Instrument [Line Items]                            
Credit amount   $ 25,000,000                   5,000,000    
Current borrowing capacity   $ 10,000,000                        
Commitment fee percentage   2.00%                        
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility | Maximum                            
Debt Instrument [Line Items]                            
Current borrowing capacity   $ 15,000,000                        
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility | First Covenant                            
Debt Instrument [Line Items]                            
Current borrowing capacity   $ 5,000,000                        
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility | First Covenant | Eurocurrency Rate                            
Debt Instrument [Line Items]                            
Interest rate   6.00%                        
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility | First Covenant | Base Rate                            
Debt Instrument [Line Items]                            
Interest rate   5.00%                        
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility | Second Covenant                            
Debt Instrument [Line Items]                            
Current borrowing capacity   $ 5,000,000                        
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility | Second Covenant | Eurocurrency Rate                            
Debt Instrument [Line Items]                            
Interest rate   7.50%                        
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility | Second Covenant | Base Rate                            
Debt Instrument [Line Items]                            
Interest rate   6.50%                        
Notes Payable to Banks | SVB Loan                            
Debt Instrument [Line Items]                            
Face amount                       $ 51,100,000 $ 45,400,000  
Debt repayment     $ 41,600,000                      
Notes Payable to Banks | D&O Financing Loans                            
Debt Instrument [Line Items]                            
Face amount                 $ 2,700,000 $ 3,000,000        
Interest rate                 4.59% 1.74%        
Loan                            
Debt Instrument [Line Items]                            
Debt repayment             $ 600,000