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Debt - Credit Facility (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Debt        
Gain on extinguishment of debt     $ (170,000)  
Other income (expense) $ 459,000 $ 69,000 2,849,000 $ 56,000
2019 Credit Facility        
Debt        
Prepayment fee 0   170,000  
Outstanding balance $ 0   $ 0