Annual report pursuant to Section 13 and 15(d)


Cover - USD ($)
12 Months Ended
Dec. 31, 2023
Mar. 29, 2024
Jun. 30, 2023
Document Information [Line Items]      
Document Type 10-K    
Document Annual Report true    
Document Transition Report false    
Document Financial Statement Error Correction [Flag] false    
Entity Interactive Data Current Yes    
ICFR Auditor Attestation Flag false    
Amendment Flag false    
Document Period End Date Dec. 31, 2023    
Document Fiscal Year Focus 2023    
Document Fiscal Period Focus FY    
Documents Incorporated by Reference [Text Block]

Certain exhibits previously filed with the Securities and Exchange Commission are incorporated by reference into Part IV of this report.

Entity Information [Line Items]      
Entity Central Index Key 0000845385    
Securities Act File Number 814-00710    
Entity Tax Identification Number 46-3516073    
Entity Incorporation, State or Country Code MD    
Current Fiscal Year End Date --12-31    
Entity Well-known Seasoned Issuer No    
Entity Voluntary Filers No    
Entity Current Reporting Status Yes    
Entity Shell Company false    
Entity Filer Category Non-accelerated Filer    
Entity Small Business false    
Entity Emerging Growth Company false    
Entity Public Float     $ 1,300,451
Entity Contact Personnel [Line Items]      
Entity Address, Address Line One 800 Turnpike Street    
Entity Address, Address Line Two Suite 300    
Entity Address, City or Town North Andover    
Entity Address, State or Province MA    
Entity Address, Postal Zip Code 01845    
Entity Phone Fax Numbers [Line Items]      
City Area Code (978)    
Local Phone Number 794-3366    
Entity Listings [Line Items]      
Entity Common Stock, Shares Outstanding   120,486,061