Accrued Expenses and Other Current and Non-Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Compensation, including bonuses, fringe benefits, and payroll taxes	$ 4,084	$ 5,310
Contract liabilities	875	1,139
Directors and officers insurance premiums	1,728	3,010
Deferred acquisition and contingent consideration (see Note 16)	974	802
Accrued interest	1,076	1,100
Other liabilities	3,508	3,234
Total accrued expenses and other current liabilities	$ 12,245	$ 14,595