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
Aug. 31, 2022
Mar. 31, 2022
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Nov. 30, 2023
Sep. 03, 2023
Sep. 03, 2022
Debt Instrument [Line Items]                
Total debt     $ 91,683,000   $ 89,477,000      
Non-cash interest expense     0 $ 384,000        
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 $ 400,000        
Medium-term Notes | Adams Street Capital Agreement                
Debt Instrument [Line Items]                
Credit amount     31,000,000          
Total debt     30,444,000   30,522,000      
Medium-term Notes | Adams Street Delayed Draw Term Loan                
Debt Instrument [Line Items]                
Credit amount     15,000,000          
Total debt     14,731,000   14,769,000      
Medium-term Notes | Adams Street Incremental Term Loan                
Debt Instrument [Line Items]                
Credit amount     32,000,000          
Total debt     31,508,000   31,588,000      
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility                
Debt Instrument [Line Items]                
Credit amount         30,000,000 $ 25,000,000    
Borrowed amount     5,000,000          
Repayment amount     2,000,000          
Total debt     15,000,000   12,000,000      
Line of credit     15,000,000          
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     $ 0   $ 598,000      
Face amount             $ 1,200,000 $ 2,700,000
Interest rate             7.39% 4.59%