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Fair Value Measurements - Change in Fair Value of Convertible Notes and Contingent Liability (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Derivative liability          
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]          
Fair value, beginning of the year     $ 101 $ 1,396 $ 1,396
Vesting/Issuances     0    
Changes in fair value $ (100) $ 200 177 (1,900) (1,295)
Forfeiture of convertible notes     0    
Settlements     0    
Fair value, end of period 278   278   101
Convertible notes          
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]          
Fair value, beginning of the year     6,938 12,293 12,293
Vesting/Issuances     72   137
Changes in fair value 600 $ 100 798 (1,200) (1,786)
Forfeiture of convertible notes     (326)    
Settlements     (3,919)    
Fair value, end of period $ 3,563   3,563   6,938
Convertible notes | Revesting Notes          
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]          
Settlements         (235)
Convertible notes | Convertible Notes          
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]          
Settlements         (3,471)
Contingent consideration          
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]          
Fair value, beginning of the year     $ 0 $ 9,500 9,500
Changes in fair value         (5,279)
Settlements         (4,221)
Fair value, end of period         $ 0