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Summary of Significant Accounting Policies - Noncontrolling interest (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Noncontrolling interest:    
Noncontrolling interest $ 305 $ 437
Related party    
Noncontrolling interest:    
Noncontrolling interest   3,800
VOLT    
Noncontrolling interest:    
Noncontrolling interest $ 0 $ 11,900
Controlling interest (as a percent)   76.00%
VOLT | Related party    
Noncontrolling interest:    
Noncontrolling interest (as a percent)   24.00%