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Goodwill and Intangible Assets, Net - Estimated Future Annual Amortization Expense Related to Intangible Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Goodwill and Intangible Assets Disclosure [Abstract]    
2023 $ 4,821  
2024 4,545  
2025 3,705  
2026 3,188  
2027 2,596  
Thereafter 5,615  
Intangible assets, net $ 24,470 $ 20,169