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Intangible Assets - Schedule of Estimated Annual Amortization of Intangible Assets (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Intangible Assets, Net (Excluding Goodwill) [Abstract]    
2023 (remaining nine months) $ 1,484  
2024 2,968  
2025 2,958  
2026 557  
2027 356  
Thereafter 1,395  
Total $ 9,718 $ 11,203