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Commitments and Contingencies - Lease Cost (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Lease, Cost [Abstract]        
Finance lease costs $ 0 $ 0 $ 0 $ 18
Operating lease costs 1,618 1,831 5,278 5,491
Short-term lease costs 0 0 0 40
Total lease cost 1,618 1,831 5,278 5,549
Variable lease cost $ 0 $ 0 $ 0 $ 0