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Leases - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Leases [Abstract]      
Right-of-use assets $ 6,662 $ 7,839  
Current operating lease liabilities 1,759 1,769  
Non-current operating lease liabilities $ 5,903 $ 7,112  
Operating lease liabilities, noncurrent, balance sheet line item Other long-term liabilities Other long-term liabilities  
Present value of net minimum operating lease payments $ 7,662 $ 8,881  
Weighted-average remaining lease term 4 years 1 month 6 days 5 years  
Weighted-average discount rate 9.00% 9.10%  
Operating lease costs included in operating costs and expenses $ 2,453 $ 2,800 $ 2,200
Operating cash flows related to operating leases 2,464 2,600 1,900
Operating right-of-use assets obtained in exchange for lease liabilities $ 705 $ 658 $ 7,931