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Commitments and Contingencies - Noncash Investing and Financing Activities (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Commitments and Contingencies Disclosure [Abstract] |  |  |
Right-of-use assets obtained in exchange for operating lease liabilities | $ 6,116 | $ 2,376 | $ 18,633
Right-of-use assets obtained in exchange for finance lease liabilities | $ 151 | $ 444 | $ 18

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