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Common Stock Dividends and Issuances Text Tags (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 6 Months Ended | 9 Months Ended | 12 Months Ended |  |  |  |  |  |
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Sep. 30, 2023 | Dec. 31, 2021 | Sep. 30, 2021 | Mar. 31, 2021 | Dec. 31, 2020 | Jun. 30, 2020 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2011 | Mar. 31, 2023 | Mar. 31, 2022 | Mar. 31, 2021 | Jul. 19, 2023 | Sep. 27, 2021 | Feb. 16, 2021 | Feb. 01, 2021 | Oct. 15, 2020 | Oct. 28, 2011
Dividends [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, Other |  |  |  |  |  |  |  |  | 2,321,286 |  |  |  |  |  |  |  |  |
Conversion of Stock, Shares Converted |  |  |  | 475 |  | 13,519 | 2,200 |  | 1,208,039 | 550 | 3,850 |  |  |  |  |  |  |
Convertible Preferred Stock, Shares Outstanding (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 45,118
Conversion of Stock, Shares Issued |  |  |  | 58,093 |  | 1,653,397 | 269,060 |  |  | 67,265 | 470,855 |  |  |  |  |  |  |
Treasury Stock, Shares, Acquired |  |  |  |  |  |  |  |  |  |  |  | 2,321,286 |  |  |  |  |  |
Payments for Repurchase of Equity |  |  |  |  |  |  |  |  |  |  |  | $ 2,500 |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues |  | 397,367 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues |  | 397,367 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from Issuance of Private Placement | $ 1,000 |  | $ 4,000 | $ 4,400 |  |  |  |  |  |  |  | $ 6,000 |  |  |  |  |  |
Conversion of Stock, Shares Converted |  |  |  | 475 |  | 13,519 | 2,200 |  | 1,208,039 | 550 | 3,850 |  |  |  |  |  |  |
Issuance of common stock |  |  |  |  |  |  | $ 1,000 | $ 0 |  |  | $ 3,000 |  |  |  |  |  |  |
Common Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Dividends [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues | 378,788 |  |  | 157,806 | 147,227 |  |  |  |  |  |  | 112,612 |  |  |  |  |  |
Sale of Stock, Price Per Share |  |  |  |  |  |  |  |  |  |  |  |  | $ 2.64 |  | $ 8.88 | $ 7.75 | $ 6.62 |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock Repurchased and Retired During Period, Shares |  |  |  |  |  |  |  |  |  |  |  | 180,573 |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues | 378,788 |  |  | 157,806 | 147,227 |  |  |  |  |  |  | 112,612 |  |  |  |  |  |
Sale of Stock, Price Per Share |  |  |  |  |  |  |  |  |  |  |  |  | $ 2.64 |  | 8.88 | 7.75 | $ 6.62 |
Series F Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Dividends [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock, Shares Outstanding (in shares) | 9,000 |  |  |  |  |  | 9,000 |  |  | 9,000 |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues |  |  | 4,000 | 5,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Sale of Stock, Price Per Share |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,000 | 1,000 |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues |  |  | 4,000 | 5,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Sale of Stock, Price Per Share |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,000 | $ 1,000 |  |  |
Series D Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Dividends [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock, Shares Outstanding (in shares) | 11,001 |  |  |  |  |  | 11,001 |  |  | 13,201 |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock Repurchased and Retired During Period, Shares |  |  |  |  |  |  |  |  |  |  |  | 13,523 |  |  |  |  |  |
Series E Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Dividends [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock, Shares Outstanding (in shares) | 3,177 |  |  |  |  |  | 3,177 |  |  | 3,177 |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues |  |  |  | 3,177 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Sale of Stock, Price Per Share |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,000 |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues |  |  |  | 3,177 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Sale of Stock, Price Per Share |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,000 |  |

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