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Commitments and Contingencies - Lease related assets and liabilities (Details) - USD ($)
$ in Thousands
 9 Months Ended
Sep. 30, 2022
Sep. 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 $ 21,975   $ 23,984
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List] Operating lease liabilities, Current   Operating lease liabilities, Current
Operating lease liabilities, Current $ 2,486   $ 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 $ 21,506   $ 23,354
Present value of future minimum lease payments $ 23,992   $ 25,860
Weighted average remaining lease term 7 years 10 months 24 days   8 years 7 months 6 days
Weighted average discount rate 4.20%   4.20%
Cash paid for operating lease liabilities $ 2,703 $ 2,411  
Non-cash right of use assets obtained in exchange for new operating lease obligations $ 49 $ 6,146