Shareholders’ Equity - Schedule of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Number of Shares
Outstanding at beginning of period (in shares) | shares	10,243,772
Exercised (in shares) | shares	(273,035)
Forfeited or expired (in shares) | shares	(57,142)
Outstanding at end of period (in shares) | shares	10,549,893	10,243,772
Options vested and exercisable (in shares) | shares	8,877,936
Weighted Average Exercise Price
Weighted average exercise price, beginning balance (in usd per share) | $ / shares	$ 6.43
Exercised (in usd per share) | $ / shares	0.95
Forfeited or expired (in usd per share) | $ / shares	10.61
Weighted average exercise price, ending balance (in usd per share) | $ / shares	6.28	$ 6.43
Options vested and exercisable (in usd per share) | $ / shares	$ 6.34
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Total Intrinsic Value | $	$ 4,659	$ 1,956
Options vested and exercisable, intrinsic value | $	$ 4,246
Weighted Average Remaining Contractual Life (Years)	5 years 8 months 12 days	6 years
Options vested and exercisable, weighted average remaining contractual term	5 years 8 months 12 days
Market and service condition based options
Number of Shares
Outstanding at beginning of period (in shares) | shares	4,453,297
Outstanding at end of period (in shares) | shares	4,453,297	4,453,297
Options vested and exercisable (in shares) | shares	3,994,964
Weighted Average Exercise Price
Weighted average exercise price, beginning balance (in usd per share) | $ / shares	$ 12.75
Weighted average exercise price, ending balance (in usd per share) | $ / shares	12.75	$ 12.75
Options vested and exercisable (in usd per share) | $ / shares	$ 11.96
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Total Intrinsic Value | $	$ 0	$ 0
Options vested and exercisable, intrinsic value | $	$ 0
Weighted Average Remaining Contractual Life (Years)	3 years 10 months 24 days	4 years 8 months 12 days
Options vested and exercisable, weighted average remaining contractual term	3 years 9 months 18 days