Commitments and Contingencies - Future Minimum Lease Payments (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Operating Leases
Remaining 2023	$ 894
2024	3,496
2025	3,392
2026	3,236
2027	3,304
2028 and thereafter	5,485
Total	19,807
Amount representing interest	(2,160)
Amount representing leasehold incentives	(396)
Present value of future payments	17,251
Current portion of lease liability	(2,845)	$ (2,451)
Long-term portion of lease liability	14,406	15,751
Finance Leases
Remaining 2023	351
2024	1,180
2025	716
2026	370
2027	147
2028 and thereafter	0
Total	2,764
Amount representing interest	(215)
Amount representing leasehold incentives	0
Present value of future payments	2,549
Current portion of lease liability	(1,156)	(796)
Long-term portion of lease liability	$ 1,393	$ 957

Finance Lease, Liability, Leasehold Incentives

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No definition available.

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Lessee, Operating Lease, Leasehold Incentive

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No definition available.

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- References

No definition available.

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- Definition

Present value of lessee's discounted obligation for lease payments from finance lease.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 6
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147478964/842-20-50-6

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
-SubTopic 20
-Name Accounting Standards Codification
-Section 45
-Paragraph 1
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479041/842-20-45-1

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Present value of lessee's discounted obligation for lease payments from finance lease, classified as current.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
-SubTopic 20
-Name Accounting Standards Codification
-Section 45
-Paragraph 1
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479041/842-20-45-1

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Present value of lessee's discounted obligation for lease payments from finance lease, classified as noncurrent.

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Amount of lessee's undiscounted obligation for lease payments for finance lease.

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Amount of lessee's undiscounted obligation for lease payment for finance lease to be paid in next fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount of lessee's undiscounted obligation for lease payment for finance lease to be paid in fourth fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount of lessee's undiscounted obligation for lease payment for finance lease to be paid in third fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount of lessee's undiscounted obligation for lease payment for finance lease to be paid in remainder of current fiscal year.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 842
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 6
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147478964/842-20-50-6

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Amount of lessee's undiscounted obligation for lease payment for operating lease.

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Amount of lessee's undiscounted obligation for lease payment for operating lease having initial or remaining lease term in excess of one year to be paid in remainder of current fiscal year.

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Amount of lessee's undiscounted obligation for lease payments in excess of discounted obligation for lease payments for operating lease.

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