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Restricted Cash (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Mar. 31, 2022
Dec. 31, 2021
Restricted Cash and Cash Equivalents Items [Line Items]        
Cash and cash equivalents $ 7,393 $ 5,032    
Restricted cash - current 4,681 4,477    
Restricted cash - long-term 0 204    
Cash, cash equivalents and restricted cash $ 12,074 9,713 $ 32,131 $ 65,946
Letter of credit, termination lease agreement, days after termination date 120 days      
Dividend payments on preferred stock        
Restricted Cash and Cash Equivalents Items [Line Items]        
Restricted cash - current $ 4,477 4,477    
Letter of credit        
Restricted Cash and Cash Equivalents Items [Line Items]        
Restricted cash - current 204 0    
Restricted cash - long-term $ 0 $ 204