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Intangible Assets and Goodwill - Schedule of Estimated Amortization Expense Intangible Assets (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Goodwill and Intangible Assets Disclosure [Abstract]    
2023 (remainder of year from October 1, 2023 to December 31, 2023) $ 98  
2024 391  
2025 263  
2026 186  
2027 33  
Thereafter 443  
Total estimated amortization expense $ 1,414 $ 1,707