Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Compensation, including bonuses, fringe benefits, and payroll taxes	$ 5,137	$ 5,310
Contract liabilities	545	1,139
Directors and officers insurance premiums	0	3,010
Deferred acquisition and contingent consideration (see Note 7 and 16)	3,318	802
Accrued interest	1,100	1,100
Other liabilities	2,623	3,234
Total accrued expenses and other current liabilities	$ 12,723	$ 14,595