The unlawful departure of a person from custody or a correctional facility. Escape includes the unauthorized departure or absence from this state or failure to return to this state by a person who is under the jurisdiction of the Psychiatric Security Review Board under 161.315 (Right of state to obtain mental examination of defendant) to 161.351 (Discharge by board). Escape does not include failure to comply with provisions of a conditional release in 135.245 (Release decision)