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Debt - Revolving Loan (Details)
Aug. 01, 2023
USD ($)
qtr
Sep. 30, 2023
USD ($)
Mar. 14, 2023
USD ($)
Dec. 31, 2022
USD ($)
Debt Instrument [Line Items]        
Outstanding unamortized loan fees   $ 700,000   $ 400,000
Silicon Valley Bank Credit Facility | Line of Credit        
Debt Instrument [Line Items]        
Line of credit     $ 0  
Bank of America Credit Agreement | Line of Credit | Revolving Loan        
Debt Instrument [Line Items]        
Borrowing capacity $ 50,000,000      
Accordion feature, increase limit $ 25,000,000      
Days prior to maturity date 91 days      
Covenant, consecutive quarters | qtr 4      
Line of credit   0    
Bank of America Credit Agreement | Line of Credit | Revolving Loan | Minimum        
Debt Instrument [Line Items]        
Unused portion of borrowing commitment 0.05%      
Bank of America Credit Agreement | Line of Credit | Revolving Loan | Maximum        
Debt Instrument [Line Items]        
Unused portion of borrowing commitment 0.0625%      
Bank of America Credit Agreement | Line of Credit | Revolving Loan | Secured Overnight Financing Rate (SOFR)        
Debt Instrument [Line Items]        
Additional basis spread on variable rate 0.10%      
Bank of America Credit Agreement | Line of Credit | Revolving Loan | Secured Overnight Financing Rate (SOFR) | Minimum        
Debt Instrument [Line Items]        
Basis spread on variable rate 2.25%      
Bank of America Credit Agreement | Line of Credit | Revolving Loan | Secured Overnight Financing Rate (SOFR) | Maximum        
Debt Instrument [Line Items]        
Basis spread on variable rate 2.75%      
Bank of America Credit Agreement | Line of Credit | Revolving Loan | Base rate | Minimum        
Debt Instrument [Line Items]        
Basis spread on variable rate 1.25%      
Bank of America Credit Agreement | Line of Credit | Revolving Loan | Base rate | Maximum        
Debt Instrument [Line Items]        
Basis spread on variable rate 1.75%      
Bank of America Credit Agreement | Line of Credit | Credit commitments        
Debt Instrument [Line Items]        
Borrowing capacity $ 15,000,000      
Bank of America Credit Agreement | Line of Credit | Swing line        
Debt Instrument [Line Items]        
Borrowing capacity $ 5,000,000      
Prepaid expenses and other current assets        
Debt Instrument [Line Items]        
Outstanding unamortized loan fees   200,000   200,000
Other long-term assets        
Debt Instrument [Line Items]        
Outstanding unamortized loan fees   $ 500,000   $ 200,000