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Leases - Schedule of Components of Lease Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Leases [Abstract]        
Operating lease cost $ 531 $ 556 $ 1,637 $ 1,753
Short-term lease cost 2 2 4 2
Variable lease cost 63 69 191 217
Total lease cost $ 596 $ 627 $ 1,832 $ 1,972