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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
Sep. 30, 2023
Dec. 31, 2022
Leases [Abstract]    
2023 (remaining 3 months) $ 1,230  
2024 5,144  
2025 3,908  
2026 2,918  
2027 2,158  
Thereafter 3,084  
Total lease payments 18,442  
Less: imputed interest (2,119)  
Total lease liabilities $ 16,323 $ 20,536