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Stockholders' Equity and Stock Repurchase Program (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2015 | Oct. 27, 2014
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |
Preferred stock, shares issued (in shares) | 883,000 | 883,000 |  |  |
Cumulative annual dividend rate (as a percent) | 5.00% | 5.00% |  |  |
Preferred stock, par value (in dollars per share) | $ 0.001 | $ 0.001 |  |  |
Preferred stock, shares outstanding (in shares) | 883,000 | 883,000 |  |  |
Preferred stock, value | $ 3,532,000 | $ 3,532,000 |  |  |
Liquidation preference over common stock (in dollars per share) | $ 4 | $ 4 |  |  |
Stock repurchase program, authorized amount |  |  |  |  | $ 5,000,000.0
Shares repurchased (in shares) | 0 | 0 | 0 | 908,000 |
Average price of shares repurchased (in dollars per share) |  |  |  | $ 2.52 |
Total purchase price |  |  |  | $ 2,300,000 |
Stock repurchase program remaining authorized repurchase amount | $ 2,700,000 |  |  |  |
Preferred stock dividends payable | $ 2,901,000 | $ 2,901,000 |  |  |
Series A Preferred Stock |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |
Preferred stock, shares issued (in shares) | 883,000 | 883,000 |  |  |
Preferred stock, par value (in dollars per share) | $ 0.001 | $ 0.001 |  |  |
Preferred stock, shares outstanding (in shares) | 883,000 | 883,000 |  |  |
Preferred stock dividends payable |  |  |  | $ 2,900,000 |

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- Definition The per share liquidation preference (or restrictions) of nonredeemable preferred stock (or preferred stock redeemable solely at the option of the issuer) that has a preference in involuntary liquidation considerably in excess of the par or stated value of the shares. The liquidation preference is the difference between the preference in liquidation and the par or stated values of the share. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 235 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.4-08(d)) -URI http://asc.fasb.org/extlink&oid=120395691&loc=d3e23780-122690 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=123467817&loc=d3e21475-112644 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(28)) -URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 Reference 4: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 13 -Subparagraph (h) -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496158-112644 Reference 5: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 4 -URI http://asc.fasb.org/extlink&oid=123467817&loc=d3e21484-112644 + Details
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