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Leases - Supplemental balance sheet information (Details) - USD ($)
Dec. 31, 2023
Dec. 31, 2022
Operating leases    
Operating lease right-of-use assets $ 3,208,000 $ 4,010,000
Operating lease liabilities - current 1,202,000 1,118,000
Operating lease liabilities - long-term 2,363,000 3,331,000
Total operating lease liabilities 3,565,000 4,449,000
Finance leases    
Property and equipment, at cost 10,672,000 8,942,000
Accumulated depreciation (7,982,000) (7,336,000)
Property and equipment, net $ 2,690,000 $ 1,606,000
Finance Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration] Property, Plant, and Equipment and Finance Lease Right-of-Use Asset, after Accumulated Depreciation and Amortization Property, Plant, and Equipment and Finance Lease Right-of-Use Asset, after Accumulated Depreciation and Amortization
Finance lease liabilities - current $ 470,000 $ 70,000
Finance Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration] Long-term Debt and Capital Lease Obligations, Current Long-term Debt and Capital Lease Obligations, Current
Finance lease liabilities - long-term $ 1,289,000 $ 207,000
Finance Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration] Long-term Debt and Capital Lease Obligations Long-term Debt and Capital Lease Obligations
Obligations under finance leases $ 1,759,000 $ 277,000
Weighted average remaining lease term:    
Operating leases 3 years 1 month 6 days 3 years 10 months 24 days
Finance leases 3 years 2 months 12 days 2 years 9 months 18 days
Weighted average discount rate:    
Operating leases 5.20% 5.03%
Finance leases 6.60% 7.21%