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Stockholders' Equity - Blackstone Private Placement and Conversion (Details) |  |  | 12 Months Ended
--- | --- | --- | ---
Feb. 05, 2021 USD ($) shares | Oct. 01, 2020 USD ($) D item $ / shares | Dec. 31, 2023 USD ($) | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($)
Stockholders' Equity |  |  |  |  |
Dividends, paid-in-kind |  |  | $ 8,000,000.0 | $ 8,000,000.0 | $ 8,200,000
Class C convertible preferred stock |  |  |  |  |
Stockholders' Equity |  |  |  |  |
Shares issued to the underwriters | shares | 50,000 |  |  |  |
Preferred stock, dividend rate (as a percent) |  |  | 4.00% |  |
Liquidation preference (in dollars per share) | $ / shares |  | $ 1,000 |  |  |
Conversion price (in dollars per share) | $ / shares |  | $ 38.6152 |  |  |
Conversion rate |  | 25.90 |  |  |
Threshold trading days for conversion of preferred stock | D |  | 20 |  |  |
Threshold consecutive trading days for conversion of preferred stock | D |  | 30 |  |  |
Stock price trigger as a percentage of conversion price for conversion of preferred stock |  | 150.00% |  |  |
Dividend rate on shares not repurchased |  | 5.50% |  |  |
Number of member to the board of directors who can be elected by the preferred stock holders | item |  | 1 |  |  |
Percentage of stock to be held to exercise the right to nominate member of board of directors |  | 66.67% |  |  |
Conversion of Series C preferred shares to common stock | $ 1,800,000 |  |  |  |
Class C convertible preferred stock | Private Placement |  |  |  |  |
Stockholders' Equity |  |  |  |  |
Preferred stock, dividend rate (as a percent) |  | 4.00% |  |  |
Common Stock |  |  |  |  |
Stockholders' Equity |  |  |  |  |
Shares to be issued upon conversion | shares | 1,312,860 |  |  |  |
At any time beginning five years after Closing Date (but prior to six years after the Closing Date) | Class C convertible preferred stock |  |  |  |  |
Stockholders' Equity |  |  |  |  |
Redemption price (as a percent) |  | 105.00% |  |  |
At any time beginning six years after Closing Date | Class C convertible preferred stock |  |  |  |  |
Stockholders' Equity |  |  |  |  |
Redemption price (as a percent) |  | 100.00% |  |  |

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