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Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Allowance on accounts receivable $ 541 $ 408
Property, plant and equipment, accumulated depreciation 26,049 26,692
Rental assets - accumulated depreciation 5,484 5,392
Intangible assets - accumulated amortization $ 31,629 $ 48,404
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized 2,000,000 2,000,000
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized 150,000,000 150,000,000
Common stock, shares issued 108,468,150 105,380,533
Common stock, shares outstanding 108,468,150 105,380,533
Series E preferred shares    
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized 39,500 39,500
Preferred stock, shares issued 25,000  
Preferred stock, shares outstanding 25,000  
Preferred stock, liquidation preference per share (in dollars per share) $ 1,000 $ 1,000