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Stockholders' Equity and Stock Repurchase Program (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | 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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