Supplemental Disclosure of Cash Flow and Non-Cash Investing and Financing Activities - Selected Cash Payments, Receipts, and Non-Cash Activities (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Dividends Payable [Line Items]
Cash paid for interest	$ 4,569,000	$ 4,327,000	$ 7,456,000
Income taxes paid	181,000	169,000	208,000
Cash paid for operating leases	1,567,000	1,522,000	1,569,000
Non-cash activities:
Purchases of equipment included in accounts payable	417,000	8,000	1,062,000
Lease right of use asset and liability	(37,000)	2,251,000	1,169,000
Deemed dividends of Series B Preferred Stock		926,000	32,028,000
Fair value of non-cash consideration received for option exercise	0	380,000	922,000
Amendment fee on previous term loan	0	0	722,000
Deferred financing costs	0	0	53,000
Series B Preferred Stock
Non-cash activities:
Deemed dividends of Series B Preferred Stock	0	926,000	32,028,000
Note receivable for sale of property and equipment	$ 0	$ 75,000	$ 0