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Commitments and Contingencies - Narrative (Details) - USD ($)
 1 Months Ended 3 Months Ended 9 Months Ended
Aug. 31, 2022
May 31, 2018
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Jun. 30, 2021
May 31, 2019
Aug. 31, 2011
Loss Contingencies [Line Items]                    
Renewal term 5 years                  
Operating lease cost     $ 700,000 $ 700,000 $ 2,100,000 $ 2,000,000        
Operating lease term     6 years 9 months 18 days   6 years 9 months 18 days          
Operating lease percent     8.50%   8.50%          
Operating lease, payments         $ 2,100,000 $ 2,100,000        
Purchase obligation, to be paid in the next twelve months $ 2,400,000                  
Percentage increase in purchase commitment 10.00%                  
Purchase commitment, period 12 months                  
Indemnification liability accrued for officers and directors     $ 0   0   $ 0      
Accrual for contingent liabilities     0   0   0      
Pending Litigation                    
Loss Contingencies [Line Items]                    
Accrual for contingent liabilities     $ 0   $ 0   $ 0      
Lease Facility                    
Loss Contingencies [Line Items]                    
Face amount               $ 200,000 $ 700,000 $ 900,000
Minimum                    
Loss Contingencies [Line Items]                    
Annual rental payments   $ 2,800,000                
Maximum                    
Loss Contingencies [Line Items]                    
Annual rental payments   $ 3,300,000