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Derivatives (Details) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Mar. 31, 2023 | May 31, 2013
2023 13% Notes |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Loan interest rate | 13.00% |  |  | 13.00% |
Convertible 8.00% Senior Notes Issued 2013 |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Gain (loss) on derivative |  | $ 200,000 | $ (1,200,000) |  |
Embedded derivative, fair value |  | $ 0 |  |  |
Loan interest rate |  | 8.00% |  |  | 8.00%
2023 Funding Agreement |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Gain (loss) on derivative | $ 1,600,000 |  |  |  |
Embedded derivative, fair value | 1,300,000 |  |  |  |
2019 Facility Agreement |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Gain (loss) on derivative |  | $ (1,000,000) | $ 200,000 |  |
Embedded derivative, fair value | $ 0 | $ 100,000 |  |  |

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