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Debt - Term Loan (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Outstanding principal	$ 60,937	$ 63,375
Debt issuance costs	(532)	(663)
Net carrying amount	60,405	62,712
Current portion	3,656	3,250
Long term outstanding principal	57,281	60,125
Long term net carrying amount	56,749	$ 59,462
Secured Debt | Term Loan Agreement
Debt Instrument [Line Items]
Outstanding principal	$ 60,937

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