Place all of the marinade ingredients in a food processor and process until fairly smooth.
Place chicken in a shallow dish and pour over the marinade. Turn to coat. Cover with plastic wrap and refrigerate for 12-24 hours (turning once if you'd like.)
About 30 minutes before you are ready to begin cooking, take the chicken out the fridge to come to room temperature. Preheat the oven to 450.
Line a baking sheet with aluminum foil and place a rack on it. Place the chicken on the rack.
Roast the chicken for 30 minutes, turning once at the halfway point.
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Notes
Note - the calorie count is taking into consideration the whole cup of yogurt. So, the count is actually less. For extra flavor, roast some lemon wedges along side the chicken and serve with the chicken. Squeeze the juice on the chicken for a bright fresh flavor.