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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
Jun. 30, 2024
Dec. 31, 2023
Allowance for doubtful accounts $ 890,000 $ 1,113,000
Accumulated depreciation, Property, plant and equipment 29,835,000 28,920,000
Accumulated depreciation, Rental assets 8,682,000 7,003,000
Accumulated amortization, Intangible assets $ 45,110,000 $ 39,987,000
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 2,000,000 2,000,000
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 150,000,000 150,000,000
Common stock, shares issued (in shares) 11,910,151 11,878,557
Common stock, shares outstanding (in shares) 11,910,151 11,878,557
Series E preferred stock    
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 39,500 39,500
Preferred stock issued (in shares) 25,000 25,000
Preferred stock, shares outstanding (in shares) 25,000 25,000
Preferred stock, liquidation preference $ 36,721,385 $ 36,721,385