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Common Stock and Preferred Stock (Details) |  |  | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | --- | ---
Jul. 01, 2022 USD ($) shares | Aug. 09, 2019 $ / shares shares | Sep. 30, 2023 USD ($) $ / shares shares | Sep. 30, 2022 USD ($) | Sep. 30, 2023 USD ($) $ / shares shares | Sep. 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
Preferred Stock, 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 |  |  | $ 25,600,000 |  | $ 25,600,000 |  | $ 24,500,000
Preferred Stock, Liquidation Preference, Value |  |  | 38,400,000 |  | 38,400,000 |  | 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 | 1,100,000 | $ 1,100,000 |
Dividends Payable |  |  | 5,600,000 |  | 5,600,000 |  | 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 |  |  | $ 28,600,000 |  | 28,600,000 |  | $ 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 | $ 2,200,000 |
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 |  |  |  |  | 136,532 | 113,162 |
Restricted Stock Award, Forfeitures |  |  |  |  | $ 2,500,000 | $ 1,400,000 |

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