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Commitments and Contingencies - Company Lease Cost (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Commitments and Contingencies Disclosure [Abstract]    
Operating lease cost $ 1,474 $ 2,047
Short-term lease cost 55 68
Variable lease cost 217 178
Sublease income (104) (622)
Total lease cost $ 1,642 $ 1,671