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Income Taxes - Schedule of Reconciliation of Beginning and Ending Amount of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
Balance at the beginning of the period $ 8,372 $ 7,668 $ 6,857
Reductions based on tax positions related to prior periods (438) (27)  
Additions based on tax positions related to prior periods 449   15
Additions based on tax positions related to the current period 590 731 796
Balance at the end of the period $ 8,973 $ 8,372 $ 7,668