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Debt - Summary of Interest and Fees Related to Debt (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Debt Instrument [Line Items]      
Stated interest expense $ 20,603 $ 16,561 $ 16,949
Amortization of deferred financing costs 2,146 2,104 2,215
Total interest and financing expenses $ 22,749 $ 18,665 $ 19,164
Weighted average stated interest rate, period end 4.346% 4.037% 3.724%
Unused commitment fee rate, period end 1.261% 1.20% 1.375%
SBA Debentures      
Debt Instrument [Line Items]      
Stated interest expense $ 6,914 $ 3,747 $ 3,810
Amortization of deferred financing costs 733 598 532
Total interest and financing expenses $ 7,647 $ 4,345 $ 4,342
Weighted average stated interest rate, period end 4.226% 3.479% 2.676%
Credit Facility      
Debt Instrument [Line Items]      
Stated interest expense $ 1,739 $ 1,424 $ 1,467
Amortization of deferred financing costs 297 394 453
Total interest and financing expenses $ 2,036 $ 1,818 $ 1,920
Unused commitment fee rate, period end 1.261% 1.20% 1.375%
Secured Borrowings      
Debt Instrument [Line Items]      
Stated interest expense $ 1,637 $ 1,078 $ 427
Total interest and financing expenses $ 1,637 $ 1,078 $ 427
Weighted average stated interest rate, period end 9.407% 7.786% 4.392%
Notes      
Debt Instrument [Line Items]      
Stated interest expense $ 10,313 $ 10,312 $ 11,245
Amortization of deferred financing costs 1,116 1,112 1,230
Total interest and financing expenses $ 11,429 $ 11,424 $ 12,475
Weighted average stated interest rate, period end 4.125% 4.125% 4.125%