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Debt - Summary of Interest and Fees Related to Debt (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Debt Instrument [Line Items]      
Stated interest expense $ 16,561 $ 16,949 $ 17,407
Amortization of deferred financing costs 2,104 2,215 2,271
Total interest and financing expenses $ 18,665 $ 19,164 $ 19,678
Weighted average stated interest rate, period end 4.037% 3.724% 4.68%
Unused commitment fee rate, period end 1.20% 1.375% 1.375%
SBA Debentures      
Debt Instrument [Line Items]      
Stated interest expense $ 3,747 $ 3,810 $ 5,140
Amortization of deferred financing costs 598 532 549
Total interest and financing expenses $ 4,345 $ 4,342 $ 5,689
Weighted average stated interest rate, period end 3.479% 2.676% 3.297%
Credit Facility      
Debt Instrument [Line Items]      
Stated interest expense $ 1,424 $ 1,467 $ 1,642
Amortization of deferred financing costs 394 453 397
Total interest and financing expenses $ 1,818 $ 1,920 $ 2,039
Unused commitment fee rate, period end 1.20% 1.375% 1.375%
Secured Borrowings      
Debt Instrument [Line Items]      
Stated interest expense $ 1,078 $ 427  
Total interest and financing expenses $ 1,078 $ 427  
Weighted average stated interest rate, period end 7.786% 4.392%  
Notes      
Debt Instrument [Line Items]      
Stated interest expense $ 10,312 $ 11,245 $ 10,625
Amortization of deferred financing costs 1,112 1,230 1,325
Total interest and financing expenses $ 11,424 $ 12,475 $ 11,950
Weighted average stated interest rate, period end 4.125% 4.125% 5.342%