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Commitment and Contingencies - Leases (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Business Acquisition [Line Items]          
Weighted average remaining term of operating lease 5 years 8 months 12 days   5 years 8 months 12 days   5 years 9 months 18 days
Weighted average discount rate 5.90%   5.90%   5.80%
Cash payments for amounts included in the measurement of operating lease liabilities $ 2,100 $ 2,300 $ 4,300 $ 4,800  
Right of use assets in exchange for lease liabilities - continuing operations 1,200 3,500 2,400 3,786  
Right of use assets in exchange for lease liabilities - discontinued operations     885 2,198  
Lease cost 2,656 2,440 5,590 4,927  
TLA          
Business Acquisition [Line Items]          
Lease cost 1,600 1,500 3,100 3,100  
Disposal Group, Held-for-sale, Not Discontinued Operations          
Business Acquisition [Line Items]          
Right of use assets in exchange for lease liabilities - discontinued operations $ 700 $ 2,000 $ 900 $ 2,200