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Related Parties - Notes Receivable (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Jan. 24, 2022
May 22, 2020
May 01, 2020
Jun. 01, 2019
May 01, 2019
Related Party Transaction [Line Items]              
Total notes receivables $ 2,754 $ 3,873          
Less:  Current portion of notes receivable (1,604) (1,797)          
Notes receivable, less current portion 1,150 2,076          
Note 2              
Related Party Transaction [Line Items]              
Total notes receivables 656 1,057          
Original
Principal             $ 5,355
Note 3              
Related Party Transaction [Line Items]              
Total notes receivables 17 119          
Original
Principal           $ 491  
Note 6              
Related Party Transaction [Line Items]              
Total notes receivables 0 351          
Original
Principal       $ 1,111      
Note 8              
Related Party Transaction [Line Items]              
Total notes receivables 2,081 2,221          
Original
Principal         $ 2,816    
Note 9              
Related Party Transaction [Line Items]              
Total notes receivables $ 0 $ 125          
Original
Principal     $ 125