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 6 Months Ended
Aug. 31, 2022
Jun. 30, 2023
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Sep. 03, 2022
Sep. 03, 2021
Oct. 28, 2020
Debt Instrument [Line Items]                
Total debt   $ 77,269,000 $ 77,269,000   $ 78,938,000      
Non-cash interest expense     525,000 $ 0        
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   100,000 500,000          
Medium-term Notes | Adams Street Capital Agreement                
Debt Instrument [Line Items]                
Credit amount               $ 31,000,000
Total debt   30,677,000 30,677,000   30,626,000      
Medium-term Notes | Adams Street Delayed Draw Term Loan                
Debt Instrument [Line Items]                
Credit amount               15,000,000
Total debt   14,844,000 14,844,000   14,819,000      
Medium-term Notes | Adams Street Incremental Term Loan                
Debt Instrument [Line Items]                
Credit amount               32,000,000
Total debt   31,748,000 31,748,000   31,695,000      
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility                
Debt Instrument [Line Items]                
Credit amount               $ 25,000,000
Borrowed and repayment capacity   11,500,000 11,500,000          
Total debt   0 0          
Line of credit   25,000,000 25,000,000          
Notes Payable to Banks | D&O Financing Loans                
Debt Instrument [Line Items]                
Total debt   $ 0 $ 0   $ 1,798,000      
Face amount           $ 2,700,000 $ 3,000,000  
Interest rate           4.59% 1.74%