Consolidated Statements of Changes in Stockholders' Equity - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Retained Earnings (Deficit)	Accumulated Other Comprehensive Income (Loss)
Beginning Balance, (in shares) at Dec. 31, 2020	42,686
Beginning Balance at Dec. 31, 2020	$ 254,152	$ 427	$ 493,332	$ (205,875)	$ (33,732)
Net Income (Loss)	(13,225)
Dividends accrued for preferred stock	$ (21,478)		(21,478)
Shares issued under stock incentive plans, net of forfeitures and tax withholdings	387
Shares issued under stock incentive plans, net of forfeitures and tax withholdings	$ 0	(4)	(4)
Share-based compensation expense	$ 3,221		3,221
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation	52
Restricted shares forgiven for taxes	$ (363)	(1)	(362)
Shares issued for option exercises (in shares)	6
Shares issued for option exercises	$ 48	0	48
Other comprehensive income (loss)	1,830
Ending Balance at Dec. 31, 2021	$ 224,185	430	474,757	(219,100)	(31,902)
Ending Balance, (in shares) at Dec. 31, 2021	43,027
Net Income (Loss) Attributable to Parent	$ (13,225)			(13,225)
Net current-period other comprehensive income (loss), after tax	1,830
Net Income (Loss)	(26,098)
Dividends accrued for preferred stock	$ (10,894)		(10,894)
Shares issued under stock incentive plans, net of forfeitures and tax withholdings	860
Shares issued under stock incentive plans, net of forfeitures and tax withholdings	$ 0	(9)	(9)
Share-based compensation expense	$ 4,377		4,377
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation	31
Restricted shares forgiven for taxes	$ (88)	0	(88)
Other comprehensive income (loss)	(5,218)
Ending Balance at Dec. 31, 2022	$ 186,264	439	468,143	(245,198)	(37,120)
Ending Balance, (in shares) at Dec. 31, 2022	43,856
Net Income (Loss) Attributable to Parent	$ (26,098)
Net current-period other comprehensive income (loss), after tax	(5,218)
Net Income (Loss)	(50,150)
Dividends accrued for preferred stock	$ (13,098)		(13,098)
Shares issued under stock incentive plans, net of forfeitures and tax withholdings	3,561
Shares issued under stock incentive plans, net of forfeitures and tax withholdings	$ 21	(36)	(57)
Share-based compensation expense	$ 2,821		2,821
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation	148
Restricted shares forgiven for taxes	$ (179)	(2)	(177)
Other comprehensive income (loss)	(635)
Ending Balance at Dec. 31, 2023	$ 125,002	$ 473	$ 457,632	(295,348)	$ (37,755)
Ending Balance, (in shares) at Dec. 31, 2023	47,269
Net Income (Loss) Attributable to Parent	$ (50,150)			$ (50,150)
Net current-period other comprehensive income (loss), after tax	$ (635)