Problem $4$: Localization with Three Range Measurements

Suppose three sensors provide range measurements with respect to a target as shown below.

Sensor $1$: located at $(x_1,y_1)=(2,3)m$ detects range $r_1=5(m)$

Sensor $2$: located at $(x_2,y_2)=(-1,2)m$ detects range $r_2=3(m)$

Sensor $3$: located at $(x_3,y_3)=(0,0)m,$ detects range $r_3=\sqrt[\phantom{2}]{2}(m)$ Find the position of the target $(x,y).$