Long-Term Debt - Schedule of Long-term Debt (Details) - USD ($)	3 Months Ended
	Mar. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Carrying Amount	$ 50,489,000	$ 42,731,000
Less: unamortized loan fees	(202,000)	(216,000)
Less: current portion	(962,000)	(957,000)
Long-term debt, net of current portion	49,325,000	41,558,000
2026 Term Loan
Debt Instrument [Line Items]
Carrying Amount	22,014,000	22,168,000
Face amount of loan	23,000,000
Amount converted to term loan	16,115,000
Term loan, accordion feature	$ 6,885,000
Fixed interest rate (as a percent)	3.50%
Monthly principal and interest payments	$ 116,000
2027 Term Loan
Debt Instrument [Line Items]
Carrying Amount	28,475,000	$ 20,563,000
Face amount of loan	28,700,000
Amount converted to term loan	20,700,000
Term loan, accordion feature	$ 8,000,000
Fixed interest rate (as a percent)	4.375%
Monthly principal and interest payments	$ 104,000