Quarterly report pursuant to Section 13 or 15(d)

Debt - Narrative (Details)

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Debt - Narrative (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended
Aug. 31, 2024
Jun. 30, 2024
Aug. 31, 2022
Mar. 31, 2022
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Aug. 28, 2024
Dec. 31, 2023
Nov. 30, 2023
Sep. 03, 2023
Sep. 03, 2022
Debt Instrument [Line Items]                          
Non-cash interest expense             $ 0 $ 525,000          
Adams Street Capital Agreement | Revolving Credit Facility                          
Debt Instrument [Line Items]                          
Paid in kind interest     2.00%                    
Minimum liquidity covenant     $ 5,000,000                    
Non-cash interest expense         $ 0 $ 0 0 $ 500,000          
Medium-term Notes | Adams Street Capital Agreement                          
Debt Instrument [Line Items]                          
Credit amount         31,000,000.0   31,000,000.0            
Medium-term Notes | Adams Street Delayed Draw Term Loan                          
Debt Instrument [Line Items]                          
Credit amount         15,000,000.0   15,000,000.0            
Medium-term Notes | Adams Street Incremental Term Loan                          
Debt Instrument [Line Items]                          
Credit amount         32,000,000.0   32,000,000.0            
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility                          
Debt Instrument [Line Items]                          
Credit amount   $ 45,000,000.0     65,000,000.0   65,000,000.0     $ 30,000,000 $ 25,000,000    
Borrowed amount         27,000,000.0   42,000,000.0            
Repayment amount         0   7,000,000            
Line of credit         $ 18,000,000.0   $ 18,000,000.0            
Current borrowing capacity       $ 10,000,000                  
Commitment fee percentage       2.00%                  
Principal amount $ 30,000,000.0 $ 10,000,000.0                      
Line of Credit | Adams Street Capital Agreement | Revolving Credit Facility | Maximum                          
Debt Instrument [Line Items]                          
Current borrowing capacity       $ 15,000,000                  
Notes Payable to Banks | D&O Financing Loans                          
Debt Instrument [Line Items]                          
Face amount                 $ 1,000,000.0     $ 1,200,000 $ 2,700,000
Interest rate                 7.53%     7.39% 4.59%