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Equity - Common Stock and Preferred Stock (Details) - USD ($)
$ / shares in Units, $ in Millions
 6 Months Ended
Jun. 30, 2023
Jul. 31, 2018
Stockholders' equity    
Common stock, authorized shares 62,500,000  
Preferred stock, authorized shares 2,000,000.0  
Gross proceeds to date $ 91.0  
ATM    
Stockholders' equity    
Number of shares of common stock issued 0  
Number of shares issued to date 1,600,000  
Aggregate offering price $ 8.7  
Participation Right    
Stockholders' equity    
Stock Issued, Investor, Maximum Beneficial Ownership Percentage   20.00%
Common Stock | ATM    
Stockholders' equity    
Gross proceeds to date 6.1  
Net proceeds to date $ 5.9  
Share price of shares issued in offering (in dollars per share) $ 3.84