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Preferred Stock and Common Stock - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Jan. 31, 2021
Class of Stock [Line Items]      
Preferred stock, shares authorized (in shares) 2,000,000 2,000,000  
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001  
Common stock, shares authorized (in shares) [1] 150,000,000 150,000,000  
Common stock, par value (in dollars per share) [1] $ 0.001 $ 0.001  
Common stock, shares issued (in shares) [1] 11,878,557 10,846,815  
Common stock, shares outstanding (in shares) [1] 11,878,557 10,846,815  
Series D Preferred Stock      
Class of Stock [Line Items]      
Preferred stock, shares authorized (in shares) 150,000    
Series E Preferred Stock      
Class of Stock [Line Items]      
Preferred stock, shares authorized (in shares) 39,500 39,500  
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001  
Preferred stock, shares issued (in shares) 25,000 25,000  
Preferred stock, shares outstanding (in shares) 25,000 25,000  
Dividend rate 9.00%    
Redemption price 110.00%    
Liquidation preference per share (in dollars per share) $ 1,000    
Dividends accrued $ 10.1 $ 7.1  
Dividends accrued (usd per share) $ 404.93 $ 285.29  
Canaccord Genuity LLC | ATM Offering      
Class of Stock [Line Items]      
Equity Distribution Agreement, maximum aggregate amount authorized for offer or sale     $ 40.0
Number of shares issued (in shares) 803,596 0  
Purchase price (in dollars per share) $ 7.54    
Proceeds from sale of stock $ 5.9    
[1] Adjusted retroactively for reverse stock split that occurred on January 24, 2024, see Note 1