Supplemental Disclosure of Cash Flow and Non-cash Investing and Financing Activities - Schedule of Selected Cash Payments, Receipts, and Non-Cash Activities (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2023	Sep. 30, 2022
Supplemental Cash Flow Elements [Abstract]
Cash paid for interest		$ 4,496	$ 3,233
Cash paid for income taxes		210	184
Non-cash activities:
Issuance of shares pursuant to employee stock purchase plan	$ 688	1,368	0
Purchases of equipment in accounts payable		126	353
Right of use assets arising from operating lease liabilities		$ 0	$ (37)