Fair Value Measurements - Additional Information (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Warrants term	2 years 10 months 24 days	3 years 7 months 6 days
Payments for Hedge, Investing Activities	$ 0	$ 15,420	$ 4,133
Long-term Debt, Fair Value	155,200
Long-term Debt	157,104	$ 159,805
Debt, Long-Term and Short-Term, Combined Amount	$ 152,700
Maximum
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Preferred Stock Change In Control Put Feature Probability Percentage	10.00%	10.00%
Minimum
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Preferred Stock Change In Control Put Feature Probability Percentage	3.00%	1.00%
Series D Preferred Stock
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Class of warrant or right, exercise price of warrants or rights (in dollars per share)	$ 0.01
Class of warrant or right, number of securities called by warrants or rights (in shares)	1,900
Temporary Equity Liquidation Preference Percentage	140.00%
Series B Preferred Stock
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Class of warrant or right, exercise price of warrants or rights (in dollars per share)	$ 12.00
Class of warrant or right, number of securities called by warrants or rights (in shares)	1,500
Class Of Warrant Or Right Adjusted Exercise Price Of Warrants Or Rights	$ 11.49
Interest Rate Swap
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
AOCI, cash flow hedge, cumulative gain (loss), net of tax	$ 3,100	$ 100
Interest Rate Swap | July 22 2021
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Derivative, notional amount	$ 60,000
Derivative, fixed interest rate	1.291%
Interest Rate Swap | February 8, 2019
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Derivative, notional amount	$ 700,000
Derivative, fixed interest rate	2.4575%
Payments for Hedge, Investing Activities		$ 13,700