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Equity - Common Stock and Preferred Stock (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Jul. 31, 2018
Stockholders' equity      
Common stock, authorized shares 62,500,000    
Preferred stock, authorized shares 2,000,000.0    
Gross proceeds to date $ 91,000    
Proceeds from issuance of common stock, net of offering costs   $ 578  
ATM      
Stockholders' equity      
Number of shares of common stock issued 0    
Number of shares issued to date 1,600,000    
Aggregate offering price $ 8,700    
Participation Right      
Stockholders' equity      
Stock Issued, Investor, Maximum Beneficial Ownership Percentage     20.00%
Common Stock | ATM      
Stockholders' equity      
Gross proceeds to date 6,100    
Net proceeds to date $ 5,900    
Share price of shares issued in offering (in dollars per share) $ 3.84