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Commitment 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
Leases [Abstract]        
Operating lease cost $ 2,054 $ 1,381 $ 5,873 $ 5,146
Variable lease cost 371 228 1,116 594
Short-term lease cost 387 492 1,678 1,417
Sublease income (202) (65) (467) (194)
Total $ 2,610 $ 2,036 $ 8,200 $ 6,963