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Intangible Assets and Goodwill - Additional Information (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Intangible Assets, Net (Excluding Goodwill) [Abstract]        
Amortization $ 700,000 $ 800,000 $ 2,227,000 $ 2,269,000
Goodwill impairment losses 0 0    
Impairment of intangible assets $ 0 $ 0