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Commitments and Contingencies - Schedule of Lease Cost and Other Lease Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Lease cost:      
Operating lease cost $ 3,908 $ 2,699 $ 2,532
Short-term lease cost 0 2 19
Sublease income (138) (135) (131)
Total lease cost $ 3,770 $ 2,566 $ 2,420
Other information:      
Weighted average remaining lease term - operating leases 6 years 10 months 24 days 2 years 9 months 18 days 3 years 9 months 18 days
Weighted average discount rate - operating leases 3.60% 4.00% 3.90%