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Condensed Consolidated Balance Sheets (Parenthetical) - $ / shares
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Treasury Stock    
Treasury stock (in shares) 343,510 250,153
Series A cumulative redeemable perpetual preferred stock    
Preferred Stock    
Preferred stock, dividend rate, percentage 7.375% 7.375%
Preferred stock, par value (in usd per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 2,000,000 2,000,000
Preferred stock, shares outstanding (in shares) 2,000,000 2,000,000
Preferred stock, shares issued (in shares) 2,000,000 2,000,000
Class C common stock    
Common Stock    
Common stock, par value (in usd per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 300,000,000 300,000,000
Common stock, shares issued (in shares) 7,874,502 7,762,506
Common stock, shares outstanding (in shares) 7,530,992 7,512,353