Summary of Significant Accounting Policies - Summary of Carrying Values and Estimated Fair Values of Debt (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Carrying Amount	$ 49,998	$ 42,731
Carrying Amount
Debt Instrument [Line Items]
Carrying Amount	49,779	42,515
Estimated Fair Value
Debt Instrument [Line Items]
Estimated Fair Value	46,586	39,033
2026 Term Loan
Debt Instrument [Line Items]
Carrying Amount	21,711	22,168
2026 Term Loan | Carrying Amount
Debt Instrument [Line Items]
Carrying Amount	21,640	22,079
2026 Term Loan | Estimated Fair Value
Debt Instrument [Line Items]
Estimated Fair Value	19,496	20,115
2027 Term Loan
Debt Instrument [Line Items]
Carrying Amount	28,287	20,563
2027 Term Loan | Carrying Amount
Debt Instrument [Line Items]
Carrying Amount	28,139	20,436
2027 Term Loan | Estimated Fair Value
Debt Instrument [Line Items]
Estimated Fair Value	$ 27,090	$ 18,918