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Common Stock and Preferred Stock (Details)
 3 Months Ended 6 Months Ended
Jul. 01, 2022
USD ($)
shares
Aug. 09, 2019
$ / shares
shares
Jun. 30, 2023
USD ($)
$ / shares
shares
Jun. 30, 2022
USD ($)
Jun. 30, 2023
USD ($)
$ / shares
shares
Jun. 30, 2022
USD ($)
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Common Stock and Preferred Stock (Details) [Line Items]              
At Market Issuance Sales Agreement, Offering, Maximum $ 75,000,000            
Additional Securities Available (in Shares) | shares 75,000,000            
Temporary Equity, Shares Issued (in Shares) | shares   200,000 200,000   200,000   200,000
Temporary Equity, Par or Stated Value Per Share (in Dollars per share) | $ / shares   $ 0.001 $ 0.001   $ 0.001   $ 0.001
Temporary Equity, Shares Outstanding (in Shares) | shares     200,000   200,000   200,000
Temporary Equity, Initial Value Per Share (in Dollars per share) | $ / shares   $ 100          
Temporary Equity, Quarterly Dividend Rate         6.00%    
Mandatorily Redeemable Preferred Stock, Fair Value Disclosure     $ 25,200,000   $ 25,200,000   $ 24,500,000
Preferred Stock, Liquidation Preference, Value     37,800,000   37,800,000   36,700,000
Minimum [Member]              
Common Stock and Preferred Stock (Details) [Line Items]              
Temporary Equity, Liquidation Preference Percent Of Accreted Amount   20.00%          
Maximum [Member]              
Common Stock and Preferred Stock (Details) [Line Items]              
Temporary Equity, Liquidation Preference Percent Of Accreted Amount   150.00%          
Redeemable Preferred Stock [Member]              
Common Stock and Preferred Stock (Details) [Line Items]              
Dividends     400,000 $ 400,000 700,000 $ 700,000  
Dividends Payable     5,200,000   5,200,000   4,500,000
Redeemable Preferred Stock [Member] | Fair Value, Recurring [Member] | Fair Value, Inputs, Level 3 [Member]              
Common Stock and Preferred Stock (Details) [Line Items]              
Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Liability Value     $ 27,800,000   27,800,000   $ 21,900,000
Executive Officer [Member]              
Common Stock and Preferred Stock (Details) [Line Items]              
Number Of Executive Officers       3   3  
Restricted Stock [Member]              
Common Stock and Preferred Stock (Details) [Line Items]              
Stock Issued During Period, Shares, Restricted Stock Award, Forfeited (in Shares) | shares           149,238  
Restricted Stock Award, Forfeitures         $ 41,000 $ 2.2  
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Forfeitures (in Shares) | shares         2,206    
Restricted Stock [Member] | Executive Officer [Member]              
Common Stock and Preferred Stock (Details) [Line Items]              
Number Of Executive Officers     2   2    
Stock Issued During Period, Shares, Restricted Stock Award, Forfeited (in Shares) | shares         69,358 113,162  
Restricted Stock Award, Forfeitures         $ 1.2 $ 1.4