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Long-term Debt - Summary (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Long-Term Debt      
Loss on extinguishment of debt $ (2,311) $ (997)  
A&R Silicon Valley Bank Term Loan      
Long-Term Debt      
Long-term debt $ 0   $ 19,879