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Fair Value of Financial Instruments - Transfers Between Levels (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Fair Value Disclosures [Abstract]        
Transfers into Level 3 $ 0 $ 0 $ 0 $ 3,252
Transfers from Level 3 to Level 2 $ 5,957 $ 6,403 $ 7,491 $ 6,403