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Stockholders' Equity - Stock Options (Details) - USD ($)
 3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Other disclosures            
Compensation expense $ 60,000.00   $ 580,000 $ 120,000 $ 610,000  
Employee            
Other disclosures            
Compensation expense     390,000   400,000  
Non Management Directors            
Other disclosures            
Compensation expense     190,000   210,000  
Employee Stock Option [Member]            
Number of Options            
Outstanding, beginning balance (in shares)   5,614,310   5,614,310    
Granted (in shares)       0    
Exercised (in shares)       22,750    
Expired/Forfeited (in shares)       (472,140)    
Outstanding, ending balance (in shares) 5,119,420     5,119,420   5,614,310
Exercisable (in shares)   1,556,920        
Weighted Average Exercise Price            
Outstanding, beginning balance (in dollars per share)   $ 2.12   $ 2.12    
Granted (in dollars per share)       0    
Exercised (in dollars per share)       1.00    
Expired/Forfeited (in dollars per share)       3.84    
Outstanding, ending balance (in dollars per share) $ 2.04     $ 2.04   $ 2.12
Exercisable (in dollars per share)   $ 2.76        
Other disclosures            
Outstanding Weighted Average Remaining Contractual Life (in Years)       4 years 7 months 2 days   4 years 9 months 3 days
Exercisable Weighted Average Remaining Contractual Life (in Years)   2 years 2 months 8 days        
Aggregate Intrinsic Value, Outstanding $ 0     $ 0   $ 0
Aggregate Intrinsic Value, Exercisable   $ 0        
Compensation expense 20,000.00   $ 380,000 50,000.00 $ 400,000  
Unrecognized compensation expense $ 50,000.00     $ 50,000.00    
Weighted average period of recognition       9 months 14 days