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Leases - Schedule of Lease Costs and Other Lease Information (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Leases [Abstract]      
Operating lease cost (cost resulting from lease payments) $ 1,716 $ 1,840  
Variable lease cost (cost excluded from lease payments) 256 231  
Sublease income (30) (87)  
Net lease cost 1,942 1,984  
Operating lease - operating cash flows (fixed payments) 1,859 $ 1,820  
Operating lease right-of-use assets 23,060   $ 24,544
Operating lease liabilities $ 27,634   $ 29,267
Weighted average lease term - operating leases 5 years 4 months 2 days   5 years 6 months
Weighted average discount rate - operating leases 2.87%   2.91%