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Condensed Consolidated Statements of Cash Flows (Parenthetical) - USD ($)
Sep. 30, 2023
Dec. 31, 2022
Sep. 30, 2022
Dec. 31, 2021
Reconciliation of cash, cash equivalents, and restricted cash        
Cash and cash equivalents $ 23,958,000 $ 14,852,000 $ 25,382,000  
Restricted cash 5,824,000 5,960,000 5,960,000  
Cash, cash equivalents and restricted cash $ 29,782,000 $ 20,812,000 $ 31,342,000 $ 11,488,000