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Summary of Significant Accounting Policies - Allowance for credit losses (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Allowance for credit loss roll forward        
Balance at beginning of period $ 2,672 $ 2,392 $ 3,023 $ 3,749
Charged to selling, general and administrative expense 629 364 278 1,286
Write-offs   (9)   (2,288)
Total $ 3,301 $ 2,747 $ 3,301 $ 2,747