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Debt - Summary of Interest and Fees Related to Debt (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Dec. 31, 2021
Debt Instrument [Line Items]          
Stated interest expense $ 4,156 $ 4,124 $ 12,149 $ 12,763  
Amortization of deferred financing costs 530 538 1,588 1,655  
Total interest and financing expenses $ 4,686 $ 4,662 $ 13,737 $ 14,418  
Weighted average stated interest rate, period end 3.921% 4.239% 3.921% 4.239%  
Unused commitment fee rate, period end     1.20% 0.50%  
SBA Debentures          
Debt Instrument [Line Items]          
Stated interest expense $ 933 $ 931 $ 2,583 $ 3,102  
Amortization of deferred financing costs 156 138 438 408  
Total interest and financing expenses $ 1,089 $ 1,069 $ 3,021 $ 3,510  
Weighted average stated interest rate, period end 3.214% 2.899% 3.214% 2.899%  
Credit Facility          
Debt Instrument [Line Items]          
Stated interest expense $ 356 $ 368 $ 1,106 $ 1,101  
Amortization of deferred financing costs 94 115 319 340  
Total interest and financing expenses 450 $ 483 $ 1,425 $ 1,441  
Weighted average stated interest rate, period end   3.125%   3.125%  
Unused commitment fee rate, period end     1.20% 0.50%  
Secured Borrowings          
Debt Instrument [Line Items]          
Stated interest expense 289 $ 222 $ 726 $ 222  
Total interest and financing expenses $ 289 $ 222 $ 726 $ 222  
Weighted average stated interest rate, period end 6.446% 4.392% 6.446% 4.392% 4.40%
Notes          
Debt Instrument [Line Items]          
Stated interest expense $ 2,578 $ 2,603 $ 7,734 $ 8,338  
Amortization of deferred financing costs 280 285 831 907  
Total interest and financing expenses $ 2,858 $ 2,888 $ 8,565 $ 9,245  
Weighted average stated interest rate, period end 4.125% 5.055% 4.125% 5.055%