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Commitments and Contingencies - Lease related assets and liabilities (Details) - USD ($)
$ in Thousands
 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
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 $ 19,303   $ 21,322
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List] Operating lease liabilities, Current   Operating lease liabilities, Current
Operating lease liabilities, Current $ 2,596   $ 2,500
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 $ 19,043   $ 20,866
Present value of future minimum lease payments $ 21,639   $ 23,366
Weighted average remaining lease term 7 years   7 years 8 months 12 days
Weighted average discount rate 4.30%   4.20%
Cash paid for operating lease liabilities $ 2,579 $ 2,703  
Non-cash right of use assets obtained in exchange for new operating lease obligations $ 132 $ 49