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Commitments and Contingencies - Lease related assets and liabilities (Details) - USD ($)
$ in Thousands
 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Lease-related assets and liabilities      
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible List] Right of use operating lease assets   Right of use operating lease assets
Right of use operating lease assets $ 22,628   $ 23,984
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List] Operating lease liabilities, Current   Operating lease liabilities, Current
Operating lease liabilities, Current $ 2,488   $ 2,506
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List] Operating lease liabilities, non-current   Operating lease liabilities, non-current
Operating lease liabilities, non-current $ 22,122   $ 23,354
Present value of future minimum lease payments $ 24,610   $ 25,860
Weighted average remaining lease term 8 years 2 months 12 days   8 years 7 months 6 days
Weighted average discount rate 4.20%   4.20%
Cash paid for operating lease liabilities $ 1,814 $ 1,567  
Non-cash right of use assets obtained in exchange for new operating lease obligations $ 41 $ 304