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Commitments and Contingencies - Lease Costs (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Commitments and Contingencies Disclosure [Abstract]        
Operating lease cost $ 3,180 $ 3,177 $ 9,536 $ 8,476
Variable lease cost 587 616 1,950 1,468
Total lease costs $ 3,767 $ 3,793 $ 11,486 $ 9,944