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Leases (Tables)
 9 Months Ended
Sep. 30, 2023
Leases [Abstract]  
Summary of Information Pertaining to Operating Leases The Company recognized the following amounts related to its operating leases in its condensed consolidated statements of operations and cash flows (in thousands):
Three Months Ended September 30,Nine Months Ended September 30,
2023202220232022
Operating lease costs$1,519 $1,696 $4,753 $5,095 
Variable lease costs$271 $189 $816 $596 
Cash paid for amounts included in the measurement of operating lease liabilities, net of lease incentives$5,481 $4,853 
Summary of Future Minimum Lease Payments
Future minimum lease payments under noncancellable operating leases with initial lease terms in excess of one year as of September 30, 2023, were as follows (in thousands):

2023$1,796 
20245,886 
2025809 
2026410 
Gross lease payments8,901 
Less imputed interest(270)
Present value of operating lease liabilities$8,631