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Intangible Assets and Goodwill (Details 5) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Estimated future amortization expense of intangible assets    
2023 (remaining three months) $ 3,513  
2024 11,468  
2025 5,430  
2026 3,742  
2027 462  
Thereafter 0  
Finite-lived intangible assets 24,615  
In-process research and development 7,400  
Intangible assets, net $ 32,015 $ 50,880