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Commitments and Contingencies - Leases (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Operating leases rental expenses      
Lease costs $ 3,897 $ 3,957 $ 3,447
Other Operating Lease Information      
Weighted-average remaining lease term 6 years 7 months 6 days 7 years 10 months 24 days  
Weighted-average discount rate 2.60% 2.80%  
Future lease obligations under our operating leases      
2023 $ 3,917    
2024 3,889    
2025 3,526    
2026 2,703    
2027 2,276    
Thereafter 6,453    
Total lease payments 22,764    
Less: imputed interest (2,009)    
Operating lease liabilities $ 20,755 $ 18,723