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Leases - Schedule of Lease Expenses and Other Lease Information (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Lease Expense        
Operating lease expense $ 1,153 $ 1,159 $ 3,472 $ 3,857
Finance lease expense:        
Amortization of ROU assets 58 49 170 149
Interest on lease liabilities 25 24 77 76
Total 1,236 1,232 3,719 4,082
Operating cash flows from operating leases 1,154 955 3,414 3,366
Operating cash flows from finance leases 25 24 77 76
Financing cash flows from finance leases $ 63 $ 52 $ 186 $ 154