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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2022
Stockholders' Equity Attributable to Parent [Abstract]  
Schedule of Stock by Class [Table Text Block]
Changes in the number of shares outstanding are as follows:
 Preferred Stock,
Series B		Common Stock,
Class A		Common Stock,
Class B
Balance at December 31, 2019
104,574 8,347,427 1,117,462 
Issuance under public offering— 2,537,500 — 
Common stock issued for options exercised— 107,000 — 
Conversion of common stock from Class B to Class A— 398,262 (398,262)
Purchase under tender offer(62,854)— — 
Balance at December 31, 2020
41,720 11,390,189 719,200 
Issuance under public offering— 1,516,467 — 
Common stock issued for options exercised— 216,500 — 
Issuance of previously vested restricted stock units— 89,318 — 
Notional stock units paid in shares— 206,183 — 
Common stock and warrant issued in exchange for preferred stock(3,873)231,276 — 
Purchase under tender offer(37,847)— — 
Balance at December 31, 2021
— 13,649,933 719,200 
Issuance under public offering — 99,090 — 
Common stock issued for options exercised— 98,000 — 
Issuance of previously vested restricted stock units— 1,172 — 
Notional stock units paid in shares— 71,451 — 
Balance at December 31, 2022
— 13,919,646 719,200