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Income Taxes (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Operating Loss Carryforwards [Line Items]      
Provision (benefit) for income taxes $ (1,222) $ (618)  
Effective income tax rate (percent) (9.40%) (7.50%)  
Accrued interest and penalties related to unrecognized tax benefits $ 300   $ 300
State Research Tax Credit Carryforward      
Operating Loss Carryforwards [Line Items]      
Valuation allowance 2,700   $ 2,600
Research Tax Credit Carryforward      
Operating Loss Carryforwards [Line Items]      
Unrecognized tax benefits $ 700 $ 600