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Leases - Additional Information (Details) - USD ($)
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Lease Expiration Date     Dec. 31, 2025    
Operating lease option to extend     5 years    
Operating lease weighted average discount rate percent 3.80%   3.80%   3.90%
Operating lease weighted average remaining lease term 2 years   2 years   2 years 8 months 12 days
Operating lease cost $ 300,000 $ 200,000 $ 800,000 $ 800,000  
Short-term leases expense $ 23,000 $ 21,000      
Maximum [Member]          
Operating lease term of contract 5 years   5 years    
Minimum [Member]          
Operating lease term of contract 1 year   1 year