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Restructuring - Restructuring Costs (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Restructuring and Related Activities [Abstract]      
Severance and personnel related costs $ 6,006    
Contractual terminations 1,323    
Total severance and restructuring costs $ 7,329 $ 320 $ 692