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Commitment and Contingencies - Leases (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Business Acquisition [Line Items]          
Weighted average remaining term of operating lease 5 years 4 months 24 days   5 years 4 months 24 days   5 years 9 months 18 days
Weighted average discount rate 6.90%   6.90%   5.80%
Cash payments for amounts included in the measurement of operating lease liabilities $ 2,400 $ 1,700 $ 6,700 $ 6,500  
Right-of-use assets in exchange for lease liabilities - continuing operations 1,900 1,200 4,334 5,039  
Right-of-use assets in exchange for lease liabilities - discontinued operations     1,018 4,359  
Lease cost 2,610 2,036 8,200 6,963  
TLA          
Business Acquisition [Line Items]          
Lease cost 400 1,500 3,500 4,600  
Disposal Group, Held-for-sale, Not Discontinued Operations          
Business Acquisition [Line Items]          
Right-of-use assets in exchange for lease liabilities - discontinued operations $ 100 $ 2,200 $ 1,000 $ 4,400