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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%