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Summary of Significant Accounting Policies - Schedule of Cash, Cash Equivalents and Restricted Cash (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Accounting Policies [Abstract]      
Cash and cash equivalents $ 186,605 $ 91,420  
Restricted cash 927 927  
Total cash, cash equivalents and restricted cash $ 187,532 $ 92,347 $ 24,151