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Borrowings - Term Loan (Details) - USD ($)	6 Months Ended
Borrowings - Term Loan (Details) - USD ($)	Jun. 30, 2023	Dec. 31, 2022	Apr. 30, 2022	May 28, 2021
Term Loan
Short-Term Debt [Line Items]
Issuance of debt				$ 60,000,000
Long-term debt	$ 24,000,000	$ 30,000,000
Revolving Credit Facility
Short-Term Debt [Line Items]
Issuance of debt				$ 40,000,000
Quarterly payments on the term loan reduce the outstanding principal balance, amount	3,000,000
Second Amended and Restated Credit Agreement \| Term Loan
Short-Term Debt [Line Items]
Long-term debt	36,000,000
Long-term debt, current	12,000,000
Long term debt, noncurrent	24,000,000
Second Amended and Restated Credit Agreement \| Revolving Credit Facility
Short-Term Debt [Line Items]
Balance outstanding	$ 0
Second Amended and Restated Credit Agreement \| One-month LIBOR rate \| Term Loan
Short-Term Debt [Line Items]
Interest rate				1.75%
Third Amendment To Extend Credit Facility \| SOFR-indexed interest rate \| Term Loan
Short-Term Debt [Line Items]
Interest rate			1.80%