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Commitments and Contingencies - Schedule of Lease Cost and Other Lease Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Lease cost:      
Operating lease cost $ 5,138 $ 3,908 $ 2,699
Short-term lease cost 128 0 2
Sublease income (142) (138) (135)
Total lease cost $ 5,124 $ 3,770 $ 2,566
Other information:      
Weighted average remaining lease term - operating leases 10 years 7 months 6 days 6 years 10 months 24 days 2 years 9 months 18 days
Weighted average discount rate - operating leases 4.50% 3.60% 4.00%