Annual report pursuant to Section 13 and 15(d)

Debt - Narrative (Details)

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Debt - Narrative (Details) - USD ($)
 1 Months Ended 12 Months Ended
Aug. 31, 2022
Mar. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Nov. 30, 2023
Sep. 03, 2023
Sep. 03, 2022
Sep. 03, 2021
Debt Instrument [Line Items]                
Total debt     $ 89,477,000 $ 78,938,000        
Non-cash interest expense     525,000 690,000        
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     500,000 700,000        
Medium-term Notes | Adams Street Capital Agreement                
Debt Instrument [Line Items]                
Credit amount     31,000,000          
Total debt     30,522,000 30,626,000        
Medium-term Notes | Adams Street Delayed Draw Term Loan                
Debt Instrument [Line Items]                
Credit amount     15,000,000          
Total debt     14,769,000 14,819,000        
Medium-term Notes | Adams Street Incremental Term Loan                
Debt Instrument [Line Items]                
Credit amount     32,000,000          
Total debt     31,588,000 31,695,000        
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility                
Debt Instrument [Line Items]                
Credit amount     30,000,000   $ 25,000,000      
Borrowed amount     35,500,000          
Repayment amount     23,500,000          
Total debt     12,000,000 0        
Line of credit     18,000,000          
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            
Notes Payable to Banks | D&O Financing Loans                
Debt Instrument [Line Items]                
Total debt     $ 598,000 $ 1,798,000        
Face amount           $ 1,200,000 $ 2,700,000 $ 3,000,000
Interest rate           7.39% 4.59% 1.74%