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Debt - Additional Information (Details) - USD ($)
 12 Months Ended
Aug. 17, 2022
Nov. 02, 2021
Oct. 08, 2021
Feb. 16, 2021
Jan. 19, 2021
Dec. 23, 2020
Jun. 26, 2020
Oct. 23, 2019
Apr. 24, 2019
Feb. 19, 2019
Feb. 02, 2018
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Oct. 16, 2019
Feb. 08, 2019
Feb. 22, 2018
Debt Instrument [Line Items]                                  
Debt instrument asset coverage percentage                       321.70% 280.00%        
Aggregate principal amount                       $ 210,000,000 $ 153,000,000        
Weighted average interest rate                       4.346% 4.037% 3.724%      
Offering expenses                       $ 9,367,000 $ 9,776,000        
Loss on extinguishment of debt                       (23,000) (251,000) $ (4,263,000)      
Secured borrowings                       15,880,000 16,880,000        
Aggregate amount of outstanding of senior securities                       265,880,000 266,880,000        
Fair value of loans included in investments                       $ 15,800,000 $ 16,875,000        
Credit facility, interest rate per annum                       1.261% 1.20% 1.375%      
SBA Debentures                                  
Debt Instrument [Line Items]                                  
Weighted average interest rate                       4.226% 3.479% 2.676%      
Offering expenses                       $ 5,528,000 $ 4,524,000        
Prepayment of debentures                       $ 5,000,000 30,000,000 $ 63,500,000      
Debt instrument, maturity year range, start                       2025          
Debt instrument, maturity year range, end                       2028          
Loss on extinguishment of debt                       $ (23,000) (251,000) $ 4,263,000      
Debt instrument term                       10 years          
Interest rate payment term                       semi-annually on March 1 and September 1          
Unused commitments amount                       $ 0 $ 37,000,000        
Secured Borrowings                                  
Debt Instrument [Line Items]                                  
Weighted average interest rate                       9.407% 7.786% 4.392%      
5.875% Notes Due 2023                                  
Debt Instrument [Line Items]                                  
Aggregate principal amount                     $ 43,478,000            
Interest rate                     5.875%            
Debt instrument additional aggregate principal amount                                 $ 6,522,000
Net proceeds from the notes                     $ 48,062,000            
Underwriting discounts                     1,500,000            
Offering expenses                     $ 438,000            
Debt instrument redemption of aggregate principal amount         $ 50,000,000                        
Loss on extinguishment of debt         $ (794,000)                        
6.000% Notes Due 2024                                  
Debt Instrument [Line Items]                                  
Aggregate principal amount       $ 69,000,000                       $ 60,000,000  
Interest rate                               6.00%  
Debt instrument additional aggregate principal amount                               $ 9,000,000  
Net proceeds from the notes                   $ 66,521,000              
Underwriting discounts                   2,070,000              
Offering expenses                   $ 409,000              
Debt instrument redemption of aggregate principal amount       50,000,000                          
Debt instrument redemption of remaining aggregate principal amount   $ 19,000,000                              
Loss on extinguishment of debt   (313,000)   $ (1,081,000)                          
5.375% Notes Due 2024                                  
Debt Instrument [Line Items]                                  
Aggregate principal amount                             $ 55,000,000    
Interest rate                             5.375%    
Debt instrument additional aggregate principal amount               $ 8,250,000                  
Net proceeds from the notes               61,053,000                  
Underwriting discounts               1,898,000                  
Offering expenses               $ 300,000                  
Debt instrument redemption of aggregate principal amount   63,250,000                              
Loss on extinguishment of debt   $ (1,311,000)                              
4.75% Notes due 2026                                  
Debt Instrument [Line Items]                                  
Maturity date           Jan. 31, 2026                      
Aggregate principal amount           $ 125,000,000                      
Interest rate           4.75%                      
Net proceeds from the notes           $ 122,100,000                      
Underwriting discounts           $ 2,500,000                      
Percentage of public offering price           100.00%                      
Offering expenses           $ 400,000                      
Debt instrument, redemption description                       The January 2026 Notes will mature on January 31, 2026 and bear interest at a rate of 4.75%. The January 2026 Notes may be redeemed in whole or in part at any time or from time to time at our option subject to a make whole provision if redeemed before October 31, 2025 (the date falling three months prior to maturity) and at par thereafter. Interest on the January 2026 Notes is payable on January 31 and July 31 of each year. The Company does not intend to list the January 2026 Notes on any securities exchange or automated dealer quotation system.          
3.50% Notes Due 2026                                  
Debt Instrument [Line Items]                                  
Maturity date     Nov. 15, 2026                            
Aggregate principal amount     $ 125,000,000                            
Interest rate     3.50%                            
Net proceeds from the notes     $ 122,095,000                            
Underwriting discounts     $ 2,505,000                            
Percentage of public offering price     99.996%                            
Offering expenses     $ 400,000                            
Debt instrument, redemption description                       The November 2026 Notes will mature on November 15, 2026 and bear interest at a rate of 3.50%. The November 2026 Notes may be redeemed in whole or in part at any time or from time to time at our option subject to a make whole provision if redeemed before August 15, 2026 (the date falling three months prior to maturity) and at par thereafter. Interest on the November 2026 Notes is payable on May 15 and November 15 of each year. The Company does not intend to list the November 2026 Notes on any securities exchange or automated dealer quotation system.          
2023 Notes                                  
Debt Instrument [Line Items]                                  
Debt instrument redemption of issued and outstanding amount                           $ 50,000,000      
2024 Notes                                  
Debt Instrument [Line Items]                                  
Debt instrument redemption of issued and outstanding amount                           $ 132,250,000      
Revolving Credit Facility | Credit Agreement | ING Capital LLC                                  
Debt Instrument [Line Items]                                  
Maturity date Aug. 17, 2027           Apr. 24, 2023                    
Interest rate after certain conditions satisfied 2.675%           2.50%                    
Asset coverage ratio 1.50%           2.00%                    
Senior asset coverage ratio 2.00%                                
Remaining unused portion of Credit Facility commitment percentage                 0.50%                
Performing first lien bank loans, minimum percentage                 35.00%                
Revolving Credit Facility | Credit Agreement | ING Capital LLC | SOFR                                  
Debt Instrument [Line Items]                                  
Interest rate prior to certain conditions satisfied 3.00%           2.675%                    
Revolving Credit Facility | Credit Agreement | ING Capital LLC | Maximum                                  
Debt Instrument [Line Items]                                  
Credit facility, interest rate per annum                 2.675%                
Credit facility commitment percentage                 35.00%                
Revolving Credit Facility | Credit Agreement | ING Capital LLC | Minimum                                  
Debt Instrument [Line Items]                                  
Credit facility, interest rate per annum                 2.50%