Supplemental Disclosure of Cash Flow and Non-cash Investing and Financing Activities - Selected Cash Payments, Receipts, and Non-Cash Activities (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022
Supplemental Cash Flow Elements [Abstract]
Cash paid for interest	$ 2,960	$ 2,080
Cash paid for income taxes	210	184
Non-cash activities:
Issuance of shares pursuant to employee stock purchase plan	680	0
Purchases of equipment in accounts payable	252	255
Right of use assets arising from operating lease liabilities	$ 0	$ (37)