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Commitments and Contingencies - Schedule of Other Pertinent Lease Information (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Commitments and Contingencies Disclosure [Abstract]        
Operating lease costs $ 285 $ 245 $ 834 $ 644
Short-term lease costs 5 5 17 9
Variable lease costs 52 58 211 153
Operating cash flows paid for amounts in the measurement of operating lease liabilities 284 261 815 708
Operating lease assets obtained in exchange for lease obligations $ 62 $ 1,370 $ 936 $ 1,686