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Stock-based Compensation - Summary of Stock Option Activity (Details) - Employee Stock Option [Member] - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Stock option activity      
Outstanding 1,683,805    
Granted 0 0  
Exercised (306,537)    
Cancelled (8,300)    
Outstanding 1,368,968   1,683,805
Exercisable at end of period 1,308,248    
Weighted average exercise price per share      
Outstanding $ 18.84    
Exercised 16.58    
Cancelled 18.80    
Outstanding 19.35   $ 18.84
Exercisable at end of period $ 19.30    
Stock option activity, additional information      
Outstanding Weighted-Average Remaining Contractual Term 5 years   5 years 6 months
Outstanding Aggregate Intrinsic Value $ 4,411   $ 7,953
Exercisable at end of period, Weighted-Average Remaining Contractual Term 4 years 10 months 24 days    
Exercisable at end of period, Aggregate Intrinsic Value $ 4,345