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Fair Value of Financial Instruments - Reconciliation of Fair Value of Equity Warrants (Details) - Equity warrants - Level 3 - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]    
Beginning balance $ 1,894 $ 1,889
Change in fair value (20) 19
Net exercise (1,462) 0
Ending balance $ 412 $ 1,908