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Leases - Reconciliation of the Undiscounted Cash Flows for Each of the First Five Years and Thereafter to Operating Lease Liabilities (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Leases [Abstract]    
2023 (remaining 6 months) $ 3,161  
2024 5,613  
2025 4,675  
2026 2,937  
2027 2,177  
Thereafter 3,167  
Total lease payments 21,730  
Less: imputed interest (2,367)  
Total lease liabilities $ 19,363 $ 20,536