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Fair Value Measurements - Additional Information (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]        
Warrants term 2 years 2 years    
Total debt $ 148,630 $ 153,279    
Total Debt, Fair Value 147,800 $ 162,200    
Proceeds From Derivative Instrument Operating Activities $ 2,500      
Shares, Issued 49,908 47,269 43,856 43,027
Shares Issued, Net of Cashless Warrant Exercise 2,395      
Series D Preferred Stock        
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]        
Class of warrant or right, exercise price of warrants or rights (in dollars per share) $ 0.01      
Class of warrant or right, number of securities called by warrants or rights (in shares) 1,900      
Shares Issued, Net of Cashless Warrant Exercise 1,896      
Series B Preferred Stock        
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]        
Class of warrant or right, number of securities called by warrants or rights (in shares) 1,500      
Class Of Warrant Or Right Adjusted Exercise Price Of Warrants Or Rights $ 11.03      
Term Loan Facility        
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]        
Class of warrant or right, exercise price of warrants or rights (in dollars per share) $ 0.01      
Class of warrant or right, number of securities called by warrants or rights (in shares) 2,000      
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Exercised 500      
Shares Issued, Net of Cashless Warrant Exercise 499      
Interest Rate Swap        
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]        
AOCI, cash flow hedge, cumulative gain (loss), net of tax $ 0 $ 1,000    
Interest Rate Swap | July 22 2021        
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]        
Derivative, notional amount $ 60,000      
Derivative, fixed interest rate 1.291%