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Notes Payable - Interest expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Notes Payable      
Interest expense $ 3,496 $ 1,005 $ 2,108
Total interest expense on notes payable 6,033 4,424 $ 2,545
Notes Payable      
Notes Payable      
Interest expense 14    
Amortization of debt discount 44 231  
Total interest expense on notes payable $ 58 $ 231