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Stockholders' Equity - Narrative (Details) $ / shares in Units, shares in Thousands, $ in Thousands		3 Months Ended			9 Months Ended
	Jun. 13, 2022 USD ($) shares	Sep. 30, 2023 USD ($) vote $ / shares shares	Sep. 30, 2022 USD ($)	Jun. 30, 2022 USD ($)	Sep. 30, 2023 USD ($) installment vote $ / shares shares	Sep. 30, 2022 USD ($)	Dec. 31, 2022 $ / shares shares	Feb. 12, 2019 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock redeemed or called during period, value	$ 4,000			$ 4,000
Preferred stock, including additional paid in capital, net of discount	10,300
Impact of Series C preferred stock redemption	2,000	$ 0	$ 0		$ 0	$ 2,046
Preferred stock redemption premium	$ 8,300
Share based compensation cost		300	$ 200		800	600
Unrecognized compensation cost related to nonvested stock issuances		$ 1,100			$ 1,100
Share-based payment arrangement, nonvested award, cost not yet recognized, period for recognition					1 year 10 months 24 days
Share-based compensation arrangement by share-based payment award, options, exercises in period, intrinsic value					$ 0	600
Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of annual installments | installment					4
Vesting period					4 years
Share-based compensation arrangement by share-based payment award, equity instruments other than options, aggregate intrinsic value, vested					$ 1,100	$ 1,000
Restricted stock units | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, award vesting range, percentage					60.00%
Restricted stock units | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, award vesting range, percentage					120.00%
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of annual installments | installment					4
Vesting period					4 years
Omnibus incentive plan stock option expiration period					10 years
Common Class B
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, par value (in dollars per share) | $ / shares		$ 0.01			$ 0.01		$ 0.01
Common stock, number of votes per share | vote		15			15
Common stock, shares issued (in shares) | shares		220			220		220
Common Class A
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, par value (in dollars per share) | $ / shares		$ 0.01			$ 0.01		$ 0.01
Common stock, number of votes per share | vote		1			1
Redemption of Series C preferred stock (in shares) | shares	1,000
Common stock, shares issued (in shares) | shares		9,517			9,517		9,337
Common Class A | Two Thousand Nineteen Omnibus Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized (in shares) | shares								2,500
Common stock, shares issued (in shares) | shares		1,400			1,400
Series C Preferred Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Preferred stock, par value (in dollars per share) | $ / shares		$ 0.01			$ 0.01		$ 0.01

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