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Commitments and Contingencies - Undiscounted Future Lease Payments (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Commitments and Contingencies Disclosure [Abstract]    
2023 (remaining 3 months) $ 3,036  
2024 12,447  
2025 12,627  
2026 12,819  
2027 13,257  
2028 and thereafter 77,235  
Total undiscounted lease payments 131,421  
Less: Present value adjustment (34,741)  
Total operating lease liabilities $ 96,680 $ 101,124