Income Taxes - Schedule of Deferred Tax Assets and Deferred Tax Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets
Net operating loss carryforwards	$ 101,422	$ 97,812
Accruals	2,119	2,295
Stock-based compensation	1,913	2,859
Bad debt	263	360
Interest expense	7,857	4,146
Lease liabilities	14,442	20,022
Section 174 capitalized R&D costs	13,057	9,826
Capitalized production expenses	330	2,384
Other	1,729	94
Total deferred tax asset	143,132	139,798
Valuation allowance	(116,404)	(104,679)
Net deferred tax asset	26,728	35,119
Deferred tax liabilities
Deferred state income tax	(3,158)	(2,678)
Operating lease, right-of-use asset	(11,334)	(16,078)
Depreciation and amortization	(710)	(1,529)
Intangible assets	(11,558)	(11,630)
Total deferred tax liability	(26,760)	(31,915)
Net deferred tax (liability) asset	$ (32)
Net deferred tax (liability) asset		$ 3,204