Long Term Debt - Term Loan Interest Expense (Details) - Notes Payable, Other Payables - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Hayfin Loan Agreement Term Loan
Debt Instrument [Line Items]
Stated interest	$ 4,559	$ 4,182	$ 2,085
Amortization of deferred financing costs	405	372	173
Accretion of original issue discount	62	58	26
Interest expense	5,026	4,612	2,284
Hayfin Loan Agreement Delayed Draw Term Loan
Debt Instrument [Line Items]
Commitment fee	0	126	128
Amortization of deferred financing costs	0	542	542
Accretion of original issue discount	0	83	83
Interest expense	$ 0	$ 751	753
BT Loan Agreement
Debt Instrument [Line Items]
Stated interest			3,773
Accretion of amendment fee			53
Amortization of deferred financing costs			1,051
Accretion of original issue discount			354
Interest expense			$ 5,231