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Income Taxes (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Income Tax Disclosure [Abstract] |  |  |  |
Income tax expense | $ 1,477 | $ 1,370 | $ 6,154 | $ 4,939
Unrecognized tax benefits, reduction resulting from lapse of applicable statute of limitations |  |  | $ 1,500 |

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